Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 00:35:39 +03:00
Code Issues Wiki Activity

pid slider support with changed defaults

Browse source
This commit is contained in:
ctzsnooze 2021-09-26 15:05:05 +10:00
parent a2bbd31c9c
commit 90a2057179
10 changed files with 82 additions and 66 deletions
Download patch file Download diff file Expand all files Collapse all files

22
src/main/flight/pid.h
View file

@ -36,9 +36,9 @@
#define PIDSUM_LIMIT_MIN 100
#define PIDSUM_LIMIT_MAX 1000
#define PID_GAIN_MAX 200
#define PID_GAIN_MAX 250
#define F_GAIN_MAX 2000
#define D_MIN_GAIN_MAX 100
#define D_MIN_GAIN_MAX 250
// Scaling factors for Pids for better tunable range in configurator for betaflight pid controller. The scaling is based on legacy pid controller or previous float
#define PTERM_SCALE 0.032029f
@ -58,13 +58,13 @@
#define ITERM_ACCELERATOR_GAIN_OFF 0
#define ITERM_ACCELERATOR_GAIN_MAX 30000
#define PID_ROLL_DEFAULT { 42, 85, 35, 90 }
#define PID_PITCH_DEFAULT { 46, 90, 38, 95 }
#define PID_YAW_DEFAULT { 45, 90, 0, 90 }
#define D_MIN_DEFAULT { 23, 25, 0 }
#define PID_ROLL_DEFAULT { 45, 80, 40, 120 }
#define PID_PITCH_DEFAULT { 45, 80, 40, 120 }
#define PID_YAW_DEFAULT { 45, 80, 0, 120 }
#define D_MIN_DEFAULT { 30, 30, 0 }
#define DYN_LPF_DTERM_MIN_HZ_DEFAULT 70
#define DYN_LPF_DTERM_MAX_HZ_DEFAULT 170
#define DYN_LPF_DTERM_MIN_HZ_DEFAULT 75
#define DYN_LPF_DTERM_MAX_HZ_DEFAULT 150
#define DTERM_LOWPASS_2_HZ_DEFAULT 150
typedef enum {
@ -219,13 +219,13 @@ typedef struct pidProfile_s {
uint8_t simplified_master_multiplier;
uint8_t simplified_roll_pitch_ratio;
uint8_t simplified_i_gain;
uint8_t simplified_pd_ratio;
uint8_t simplified_pd_gain;
uint8_t simplified_d_gain;
uint8_t simplified_pi_gain;
uint8_t simplified_dmin_ratio;
uint8_t simplified_feedforward_gain;
uint8_t simplified_dterm_filter;
uint8_t simplified_dterm_filter_multiplier;
uint8_t simplified_pitch_pi_gain;
} pidProfile_t;
PG_DECLARE_ARRAY(pidProfile_t, PID_PROFILE_COUNT, pidProfiles);