Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-25 01:05:27 +03:00
Code Issues Wiki Activity

Luxfloat rework to int pids // Many pid cleanups // filter rework

Browse source 
Eeprom version // Dterm improvement

Further PID Improvements

Version Change

Coupling configured // reworked filtering // more test features

remove iterm scaler luxfloat

Further rework filters etc

Restore original luxfloat but scaled

Restore original luxfloat but scaled
This commit is contained in:
borisbstyle 2016-03-21 16:53:27 +01:00
parent d95220327b
commit 7b468c09f0
12 changed files with 145 additions and 309 deletions
Download patch file Download diff file Expand all files Collapse all files

6
src/main/flight/pid.h
View file

@ -63,14 +63,10 @@ typedef struct pidProfile_s {
uint8_t I8[PID_ITEM_COUNT];
uint8_t D8[PID_ITEM_COUNT];
float P_f[3]; // float p i and d factors for lux float pid controller
float I_f[3];
float D_f[3];
float A_level;
float H_level;
uint8_t H_sensitivity;
float dterm_lpf_hz; // Delta Filter in hz
float yaw_lpf_hz; // Additional yaw filter when yaw axis too noisy
uint8_t deltaMethod; // Alternative delta Calculation
uint16_t yaw_p_limit;
uint8_t dterm_average_count; // Configurable delta count for dterm