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Add more configurable Dterm approaches (for testing purposes)

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borisbstyle 2016-01-05 11:48:24 +01:00
parent 91de6fd4c2
commit 42dfba8218
5 changed files with 46 additions and 34 deletions
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src/main/flight/pid.h
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@ -59,7 +59,7 @@ typedef struct pidProfile_s {
uint16_t yaw_p_limit; // set P term limit (fixed value was 300)
uint8_t dterm_cut_hz; // (default 17Hz, Range 1-50Hz) Used for PT1 element in PID1, PID2 and PID5
uint8_t yaw_pterm_cut_hz; // Used for filering Pterm noise on noisy frames
uint8_t delta_from_gyro_error; // Used for filering Pterm noise on noisy frames
uint8_t gyro_soft_lpf; // Gyro FIR filter
#ifdef GTUNE