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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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src/main/flight/pid.h
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@ -90,7 +90,7 @@ typedef struct pidProfile_s {
// Betaflight PID controller parameters
uint8_t itermThrottleGain; // Throttle coupling to iterm. Quick throttle changes will bump iterm
uint8_t ptermSRateWeight; // Setpoint super expo ratio for Pterm (lower means that pretty much only P has super expo rates)
uint8_t setpointRelaxRatio; // Setpoint weight relaxation effect
uint8_t dtermSetpointWeight; // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > agressive derivative)
uint16_t yawRateAccelLimit; // yaw accel limiter for deg/sec/ms
uint16_t rateAccelLimit; // accel limiter roll/pitch deg/sec/ms