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Move PID relaxation to only D

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borisbstyle 2016-09-27 00:18:31 +02:00
parent 3b4e854fca
commit 73e952ce16
8 changed files with 23 additions and 31 deletions
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2
src/main/blackbox/blackbox.c
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@ -1280,7 +1280,7 @@ static bool blackboxWriteSysinfo()
// Betaflight PID controller parameters
BLACKBOX_PRINT_HEADER_LINE("itermThrottleGain:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.itermThrottleGain);
BLACKBOX_PRINT_HEADER_LINE("ptermSRateWeight:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.ptermSRateWeight);
BLACKBOX_PRINT_HEADER_LINE("setpointRelaxRatio:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.setpointRelaxRatio);
BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dtermSetpointWeight);
BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawRateAccelLimit);
BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.rateAccelLimit);