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Added horizon_tilt_effect command

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and horizon_tilt_expert_mode command.
Modified 'calcHorizonLevelStrength()' function.
Changed 'd_level' (D8[PIDLEVEL]) default from 100 to 75
Added horizon static float vars
This commit is contained in:
ethomas999 2017-03-04 00:13:38 -05:00
parent 2224347cbe
commit 8167892604
3 changed files with 74 additions and 11 deletions
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3
src/main/flight/pid.h
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@ -84,6 +84,9 @@ typedef struct pidProfile_s {
uint8_t levelAngleLimit; // Max angle in degrees in level mode
uint8_t levelSensitivity; // Angle mode sensitivity reflected in degrees assuming user using full stick
uint8_t horizon_tilt_effect; // inclination factor for Horizon mode
uint8_t horizon_tilt_expert_mode; // OFF or ON
// Betaflight PID controller parameters
uint16_t itermThrottleThreshold; // max allowed throttle delta before iterm accelerated in ms
uint16_t itermAcceleratorGain; // Iterm Accelerator Gain when itermThrottlethreshold is hit