Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 06:15:16 +03:00
Code Issues Wiki Activity

Initial default suggestions for 3.4

Browse source 
Set default RC smoothing channels to RPYT

first attempt at enabling features by default

update filter notes
This commit is contained in:
ctzsnooze 2018-06-03 21:39:51 +10:00 • committed by mikeller
parent 54c3363719
commit 705d3939eb
4 changed files with 21 additions and 21 deletions
Download patch file Download diff file Expand all files Collapse all files

26
src/main/flight/pid.c
View file

@ -100,9 +100,9 @@ void resetPidProfile(pidProfile_t *pidProfile)
{
RESET_CONFIG(pidProfile_t, pidProfile,
.pid = {
[PID_ROLL] = { 40, 40, 30 },
[PID_PITCH] = { 58, 50, 35 },
[PID_YAW] = { 70, 45, 20 },
[PID_ROLL] = { 46, 45, 25 },
[PID_PITCH] = { 50, 50, 27 },
[PID_YAW] = { 65, 45, 20 },
[PID_ALT] = { 50, 0, 0 },
[PID_POS] = { 15, 0, 0 }, // POSHOLD_P * 100, POSHOLD_I * 100,
[PID_POSR] = { 34, 14, 53 }, // POSHOLD_RATE_P * 10, POSHOLD_RATE_I * 100, POSHOLD_RATE_D * 1000,
@ -115,21 +115,21 @@ void resetPidProfile(pidProfile_t *pidProfile)
.pidSumLimit = PIDSUM_LIMIT,
.pidSumLimitYaw = PIDSUM_LIMIT_YAW,
.yaw_lowpass_hz = 0,
.dterm_lowpass_hz = 100, // filtering ON by default
.dterm_lowpass2_hz = 0, // second Dterm LPF OFF by default
.dterm_notch_hz = 260,
.dterm_lowpass_hz = 100, // dual PT1 filtering ON by default
.dterm_lowpass2_hz = 200, // second Dterm LPF ON by default
.dterm_notch_hz = 0,
.dterm_notch_cutoff = 160,
.dterm_filter_type = FILTER_BIQUAD,
.itermWindupPointPercent = 50,
.dterm_filter_type = FILTER_PT1,
.itermWindupPointPercent = 40,
.vbatPidCompensation = 0,
.pidAtMinThrottle = PID_STABILISATION_ON,
.levelAngleLimit = 55,
.setpointRelaxRatio = 100,
.dtermSetpointWeight = 45,
.setpointRelaxRatio = 0,
.dtermSetpointWeight = 60,
.yawRateAccelLimit = 100,
.rateAccelLimit = 0,
.itermThrottleThreshold = 350,
.itermAcceleratorGain = 1000,
.itermAcceleratorGain = 5000,
.crash_time = 500, // ms
.crash_delay = 0, // ms
.crash_recovery_angle = 10, // degrees
@ -142,9 +142,9 @@ void resetPidProfile(pidProfile_t *pidProfile)
.horizon_tilt_expert_mode = false,
.crash_limit_yaw = 200,
.itermLimit = 150,
.throttle_boost = 0,
.throttle_boost = 5,
.throttle_boost_cutoff = 15,
.iterm_rotation = false,
.iterm_rotation = true,
.smart_feedforward = false,
.iterm_relax = ITERM_RELAX_OFF,
.iterm_relax_cutoff = 11,