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Code Issues Wiki Activity

Configurable Iterm Reset Offset

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borisbstyle 2016-05-09 13:12:48 +02:00
parent 9e5c5e88c7
commit 90bc67e2cc
5 changed files with 13 additions and 12 deletions
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9
src/main/flight/pid.h
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@ -22,7 +22,7 @@
#define YAW_P_LIMIT_MIN 100 // Maximum value for yaw P limiter
#define YAW_P_LIMIT_MAX 500 // Maximum value for yaw P limiter
#define ITERM_RESET_THRESHOLD 15
#define YAW_ITERM_RESET_OFFSET 15 // May be made configurable in the future, but not really needed for yaw
#define DYNAMIC_PTERM_STICK_THRESHOLD 400
typedef enum {
@ -71,10 +71,9 @@ typedef struct pidProfile_s {
uint8_t I8[PID_ITEM_COUNT];
uint8_t D8[PID_ITEM_COUNT];
uint8_t H_sensitivity;
uint16_t dterm_lpf_hz; // Delta Filter in hz
uint16_t yaw_lpf_hz; // Additional yaw filter when yaw axis too noisy
uint8_t itermResetOffset; // Reset offset for Iterm
uint16_t dterm_lpf_hz; // Delta Filter in hz
uint16_t yaw_lpf_hz; // Additional yaw filter when yaw axis too noisy
uint16_t rollPitchItermResetRate; // Experimental threshold for resetting iterm for pitch and roll on certain rates
uint8_t rollPitchItermResetAlways; // Reset Iterm also without SUPER EXPO
uint16_t yawItermResetRate; // Experimental threshold for resetting iterm for yaw on certain rates