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Adjust some defaults to the new code

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borisbstyle 2015-12-27 02:02:15 +01:00
parent 34d65ad0b9
commit 97ceb57eff
1 changed files with 6 additions and 6 deletions
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12
src/main/config/config.c
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@ -149,13 +149,13 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->P8[ROLL] = 40;
pidProfile->I8[ROLL] = 30;
pidProfile->D8[ROLL] = 23;
pidProfile->D8[ROLL] = 20;
pidProfile->P8[PITCH] = 40;
pidProfile->I8[PITCH] = 30;
pidProfile->D8[PITCH] = 23;
pidProfile->D8[PITCH] = 20;
pidProfile->P8[YAW] = 100;
pidProfile->I8[YAW] = 50;
pidProfile->D8[YAW] = 10;
pidProfile->D8[YAW] = 8;
pidProfile->P8[PIDALT] = 50;
pidProfile->I8[PIDALT] = 0;
pidProfile->D8[PIDALT] = 0;
@ -177,15 +177,15 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->D8[PIDVEL] = 1;
pidProfile->gyro_soft_lpf = 1; // filtering ON by default
pidProfile->dterm_cut_hz = 40;
pidProfile->dterm_cut_hz = 0;
pidProfile->yaw_pterm_cut_hz = 0;
pidProfile->P_f[ROLL] = 1.5f; // new PID with preliminary defaults test carefully
pidProfile->I_f[ROLL] = 0.3f;
pidProfile->D_f[ROLL] = 0.02f;
pidProfile->D_f[ROLL] = 0.01f;
pidProfile->P_f[PITCH] = 1.5f;
pidProfile->I_f[PITCH] = 0.3f;
pidProfile->D_f[PITCH] = 0.02f;
pidProfile->D_f[PITCH] = 0.01f;
pidProfile->P_f[YAW] = 4.0f;
pidProfile->I_f[YAW] = 0.4f;
pidProfile->D_f[YAW] = 0.01f;