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Add PIDsum limit

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borisbstyle 2016-10-08 01:14:17 +02:00
parent 29733a2424
commit 8dd8e3969f
4 changed files with 5 additions and 1 deletions
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2
src/main/flight/pid.h
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@ -23,6 +23,7 @@
#define YAW_P_LIMIT_MAX 500 // Maximum value for yaw P limiter
#define YAW_JUMP_PREVENTION_LIMIT_LOW 80
#define YAW_JUMP_PREVENTION_LIMIT_HIGH 400
#define PIDSUM_LIMIT 700
#define DYNAMIC_PTERM_STICK_THRESHOLD 400
@ -84,6 +85,7 @@ typedef struct pidProfile_s {
uint16_t rollPitchItermIgnoreRate; // Experimental threshold for resetting iterm for pitch and roll on certain rates
uint16_t yawItermIgnoreRate; // Experimental threshold for resetting iterm for yaw on certain rates
uint16_t yaw_p_limit;
uint16_t pidSumLimit;
uint8_t dterm_average_count; // Configurable delta count for dterm
uint8_t vbatPidCompensation; // Scale PIDsum to battery voltage
uint8_t pidAtMinThrottle; // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.