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Set TPA default to D only, increase D about 10%

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This commit is contained in:
ctzsnooze 2018-11-11 21:44:18 +11:00
parent b58e8f827f
commit 51ff89ed99
2 changed files with 5 additions and 5 deletions
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6
src/main/fc/controlrate_profile.c
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@ -45,8 +45,8 @@ void pgResetFn_controlRateProfiles(controlRateConfig_t *controlRateConfig)
RESET_CONFIG(controlRateConfig_t, &controlRateConfig[i],
.thrMid8 = 50,
.thrExpo8 = 0,
.dynThrPID = 10,
.tpa_breakpoint = 1650,
.dynThrPID = 50,
.tpa_breakpoint = 1500,
.rates_type = RATES_TYPE_BETAFLIGHT,
.rcRates[FD_ROLL] = 100,
.rcRates[FD_PITCH] = 100,
@ -62,7 +62,7 @@ void pgResetFn_controlRateProfiles(controlRateConfig_t *controlRateConfig)
.rate_limit[FD_ROLL] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
.rate_limit[FD_PITCH] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
.rate_limit[FD_YAW] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
.tpaMode = TPA_MODE_PD,
.tpaMode = TPA_MODE_D,
);
}
}

4
src/main/flight/pid.c
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@ -118,8 +118,8 @@ void resetPidProfile(pidProfile_t *pidProfile)
{
RESET_CONFIG(pidProfile_t, pidProfile,
.pid = {
[PID_ROLL] = { 46, 65, 25, 60 },
[PID_PITCH] = { 50, 75, 27, 60 },
[PID_ROLL] = { 46, 65, 30, 60 },
[PID_PITCH] = { 50, 75, 32, 60 },
[PID_YAW] = { 45, 100, 0, 100 },
[PID_LEVEL] = { 50, 50, 75, 0 },
[PID_MAG] = { 40, 0, 0, 0 },