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update antigravity for 4.4, no boost on yaw

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Update to anti-gravity, including removal of the old Step mode, ability to adjust the P contribution (thanks @Limon), PT2 smoothed derivative model, inherent limiting of P boost during extremely fast stick travels to minimise P oscillations, less I during the middle of a throttle up, no I boost on yaw, add hz to cutoff labels

No antigravity on yaw, fix longstanding typo

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This commit is contained in:
ctzsnooze 2022-06-20 08:55:31 +10:00
parent 4fa4d4851e
commit 6aaaf727ff
13 changed files with 92 additions and 160 deletions
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4
src/test/unit/pid_unittest.cc
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@ -143,9 +143,7 @@ void setDefaultTestSettings(void) {
pidProfile->feedforward_transition = 100;
pidProfile->yawRateAccelLimit = 100;
pidProfile->rateAccelLimit = 0;
pidProfile->antiGravityMode = ANTI_GRAVITY_SMOOTH;
pidProfile->itermThrottleThreshold = 250;
pidProfile->itermAcceleratorGain = 1000;
pidProfile->anti_gravity_gain = 10;
pidProfile->crash_time = 500;
pidProfile->crash_delay = 0;
pidProfile->crash_recovery_angle = 10;