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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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6
src/main/flight/pid.h
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@ -17,6 +17,12 @@
#pragma once
#define GYRO_I_MAX 256 // Gyro I limiter
#define RCconstPI 0.159154943092f // 0.5f / M_PI;
#define MAIN_CUT_HZ 12.0f // (default 12Hz, Range 1-50Hz)
#define OLD_YAW 0 // [0/1] 0 = MultiWii 2.3 yaw, 1 = older yaw.
#define YAW_P_LIMIT_MIN 100 // Maximum value for yaw P limiter
#define YAW_P_LIMIT_MAX 500 // Maximum value for yaw P limiter
typedef enum {
PIDROLL,