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The yaw_p_limit minimum is now set to 100 to prevent misconfigurations.

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Maximum value of 500 is now removing the limit (same as for
yaw_jump_prevention_limit)
Moving defines for PID controllers to headerfiles.
Some general code cleanup.
Documentation update
This commit is contained in:
Michael Jakob 2015-05-19 17:42:03 +02:00
parent 3037a91b06
commit 42218f1ea5
7 changed files with 18 additions and 14 deletions
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2
src/main/flight/mixer.c
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@ -564,7 +564,7 @@ void mixTable(void)
{
uint32_t i;
if (motorCount >= 4 && mixerConfig->yaw_jump_prevention_limit < 500) {
if (motorCount >= 4 && mixerConfig->yaw_jump_prevention_limit < YAW_JUMP_PREVENTION_LIMIT_HIGH) {
// prevent "yaw jump" during yaw correction (500 is disabled jump protection)
axisPID[YAW] = constrain(axisPID[YAW], -mixerConfig->yaw_jump_prevention_limit - ABS(rcCommand[YAW]), mixerConfig->yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
}