Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 00:05:33 +03:00
Code Issues Wiki Activity

Fix Level mode angle calculation // refactor cli angle parameters

Browse source
This commit is contained in:
borisbstyle 2016-12-31 01:40:48 +01:00
parent 882735e91b
commit 6114e4a42d
6 changed files with 17 additions and 14 deletions
Download patch file Download diff file Expand all files Collapse all files

6
src/main/fc/config.c
View file

@ -176,15 +176,13 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->dterm_notch_cutoff = 160;
pidProfile->vbatPidCompensation = 0;
pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
pidProfile->max_angle_inclination = 70.0f; // 70 degrees
// Betaflight PID controller parameters
pidProfile->levelAngleLimit = 70.0f; // 70 degrees
pidProfile->setpointRelaxRatio = 30;
pidProfile->dtermSetpointWeight = 200;
pidProfile->yawRateAccelLimit = 20.0f;
pidProfile->rateAccelLimit = 0.0f;
pidProfile->itermThrottleThreshold = 350;
pidProfile->levelSensitivity = 2.0f;
pidProfile->levelSensitivity = 100.0f;
}
void resetProfile(profile_t *profile)