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Optimise disabled anti gravity gain // disable by default

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This commit is contained in:
borisbstyle 2017-02-07 00:05:38 +01:00
parent 80c0e32660
commit 7f8ed026bf
2 changed files with 3 additions and 2 deletions
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2
src/main/fc/config.c
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@ -183,7 +183,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->yawRateAccelLimit = 10.0f; pidProfile->yawRateAccelLimit = 10.0f;
pidProfile->rateAccelLimit = 0.0f; pidProfile->rateAccelLimit = 0.0f;
pidProfile->itermThrottleThreshold = 350; pidProfile->itermThrottleThreshold = 350;
pidProfile->itermAcceleratorGain = 2.0f; pidProfile->itermAcceleratorGain = 1.0f;
pidProfile->itermAcceleratorRateLimit = 80; pidProfile->itermAcceleratorRateLimit = 80;
} }

3
src/main/fc/fc_rc.c
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@ -181,7 +181,8 @@ void processRcCommand(void)
if (isRXDataNew) { if (isRXDataNew) {
currentRxRefreshRate = constrain(getTaskDeltaTime(TASK_RX),1000,20000); currentRxRefreshRate = constrain(getTaskDeltaTime(TASK_RX),1000,20000);
checkForThrottleErrorResetState(currentRxRefreshRate); if (currentProfile->pidProfile.itermAcceleratorGain > 1.0f)
checkForThrottleErrorResetState(currentRxRefreshRate);
} }
if (rxConfig()->rcInterpolation || flightModeFlags) { if (rxConfig()->rcInterpolation || flightModeFlags) {