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Add delta from measurement // rc smooth interval // More MSP

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borisbstyle 2016-06-22 01:20:15 +02:00
parent 9160a2adbc
commit 4c59769b02
9 changed files with 79 additions and 45 deletions
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9
src/main/flight/pid.h
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@ -41,14 +41,14 @@ typedef enum {
} pidIndex_e;
typedef enum {
PID_CONTROLLER_MWREWRITE = 1,
PID_CONTROLLER_LUX_FLOAT,
PID_CONTROLLER_INTEGER = 1, // Integer math to gain some more performance from F1 targets
PID_CONTROLLER_FLOAT,
PID_COUNT
} pidControllerType_e;
typedef enum {
DELTA_FROM_ERROR = 0,
DELTA_FROM_MEASUREMENT
DELTA_FROM_ERROR = 0,
DELTA_FROM_MEASUREMENT
} pidDeltaType_e;
typedef enum {
@ -68,6 +68,7 @@ typedef struct pidProfile_s {
uint16_t dterm_lpf_hz; // Delta Filter in hz
uint16_t yaw_lpf_hz; // Additional yaw filter when yaw axis too noisy
uint8_t deltaMethod; // Alternative delta Calculation
uint16_t rollPitchItermIgnoreRate; // Experimental threshold for resetting iterm for pitch and roll on certain rates
uint16_t yawItermIgnoreRate; // Experimental threshold for resetting iterm for yaw on certain rates
uint16_t yaw_p_limit;