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Merge pull request #6432 from joelucid/integrated_yaw

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For discussion: Integrated yaw control
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Michael Keller 2018-12-15 18:40:00 +13:00 • committed by GitHub
commit 60118da63f
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4 changed files with 30 additions and 1 deletions
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src/main/flight/pid.h
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@ -157,6 +157,8 @@ typedef struct pidProfile_s {
uint8_t launchControlAngleLimit; // Optional launch control angle limit (requires ACC)
uint8_t launchControlGain; // Iterm gain used while launch control is active
uint8_t launchControlAllowTriggerReset; // Controls trigger behavior and whether the trigger can be reset
uint8_t use_integrated_yaw; // Selects whether the yaw pidsum should integrated
uint8_t integrated_yaw_relax; // Specifies how much integrated yaw should be reduced to offset the drag based yaw component
} pidProfile_t;
PG_DECLARE_ARRAY(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles);