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Refactor rate limit

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This commit is contained in:
borisbstyle 2016-08-05 14:18:31 +02:00
parent cb72f0a6d6
commit 81c06ace92
5 changed files with 12 additions and 12 deletions
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4
src/main/flight/pid.c
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@ -187,8 +187,8 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
Kd[axis] = DTERM_SCALE * pidProfile->D8[axis];
b[axis] = pidProfile->ptermSetpointWeight / 100.0f;
c[axis] = pidProfile->dtermSetpointWeight / 100.0f;
yawMaxVelocity = pidProfile->pidMaxVelocityYaw * 1000 * getdT();
rollPitchMaxVelocity = pidProfile->pidMaxVelocityRollPitch * 1000 * getdT();
yawMaxVelocity = pidProfile->yawRateAccelLimit * 1000 * getdT();
rollPitchMaxVelocity = pidProfile->rateAccelLimit * 1000 * getdT();
configP[axis] = pidProfile->P8[axis];
configI[axis] = pidProfile->I8[axis];