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Change D Scale to match CF transition better

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borisbstyle 2015-12-02 21:56:32 +01:00
parent 5f1540dbcb
commit 769ddd39af
2 changed files with 5 additions and 5 deletions
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8
src/main/config/config.c
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@ -133,7 +133,7 @@ static uint32_t activeFeaturesLatch = 0;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 114;
static const uint8_t EEPROM_CONF_VERSION = 115;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -148,13 +148,13 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->P8[ROLL] = 40;
pidProfile->I8[ROLL] = 30;
pidProfile->D8[ROLL] = 18;
pidProfile->D8[ROLL] = 23;
pidProfile->P8[PITCH] = 40;
pidProfile->I8[PITCH] = 30;
pidProfile->D8[PITCH] = 18;
pidProfile->D8[PITCH] = 23;
pidProfile->P8[YAW] = 100;
pidProfile->I8[YAW] = 50;
pidProfile->D8[YAW] = 10;
pidProfile->D8[YAW] = 12;
pidProfile->P8[PIDALT] = 50;
pidProfile->I8[PIDALT] = 0;
pidProfile->D8[PIDALT] = 0;

2
src/main/flight/pid.c
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@ -318,7 +318,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
delta = filterApplyPt1(delta, &DTermState[axis], pidProfile->dterm_cut_hz, dT);
}
DTerm = (delta * 3 * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8; // Multiplied by 3 to match old scaling
DTerm = (delta * 2 * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8; // Multiplied by 2 to approximately match old scaling
// -----calculate total PID output
axisPID[axis] = PTerm + ITerm + DTerm;