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dterm_setpoint_weight to uint16_t

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dterm_setpoint_weight changet to uint16 with limit 0-2000
This commit is contained in:
supiiik 2018-05-23 08:39:45 +02:00
parent 6c15904a77
commit 76e3e7aded
6 changed files with 11 additions and 14 deletions
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2
src/main/flight/pid.h
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@ -98,7 +98,7 @@ typedef struct pidProfile_s {
uint16_t itermThrottleThreshold; // max allowed throttle delta before iterm accelerated in ms
uint16_t itermAcceleratorGain; // Iterm Accelerator Gain when itermThrottlethreshold is hit
uint8_t setpointRelaxRatio; // Setpoint weight relaxation effect
uint8_t dtermSetpointWeight; // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > aggressive derivative)
uint16_t dtermSetpointWeight; // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > aggressive derivative)
uint16_t yawRateAccelLimit; // yaw accel limiter for deg/sec/ms
uint16_t rateAccelLimit; // accel limiter roll/pitch deg/sec/ms
uint16_t crash_dthreshold; // dterm crash value