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Changed 'dtermSetpointWeight' to use decimal scaling.

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This commit is contained in:
Michael Keller 2018-06-06 11:21:11 +12:00
parent 445f9d6ad4
commit 3f3fb0c01c
1 changed files with 2 additions and 2 deletions
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4
src/main/flight/pid.c
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@ -125,7 +125,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.pidAtMinThrottle = PID_STABILISATION_ON, .pidAtMinThrottle = PID_STABILISATION_ON,
.levelAngleLimit = 55, .levelAngleLimit = 55,
.setpointRelaxRatio = 100, .setpointRelaxRatio = 100,
.dtermSetpointWeight = 0, .dtermSetpointWeight = 45,
.yawRateAccelLimit = 100, .yawRateAccelLimit = 100,
.rateAccelLimit = 0, .rateAccelLimit = 0,
.itermThrottleThreshold = 350, .itermThrottleThreshold = 350,
@ -390,7 +390,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
pidCoefficient[axis].Kd = DTERM_SCALE * pidProfile->pid[axis].D; pidCoefficient[axis].Kd = DTERM_SCALE * pidProfile->pid[axis].D;
} }
dtermSetpointWeight = pidProfile->dtermSetpointWeight / 127.0f; dtermSetpointWeight = pidProfile->dtermSetpointWeight / 100.0f;
if (pidProfile->setpointRelaxRatio == 0) { if (pidProfile->setpointRelaxRatio == 0) {
relaxFactor = 0; relaxFactor = 0;
} else { } else {