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e9924eb13a
commit
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4 changed files with 9 additions and 10 deletions
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@ -206,7 +206,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
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pidProfile->D8[ROLL] = 20;
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pidProfile->P8[PITCH] = 60;
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pidProfile->I8[PITCH] = 60;
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pidProfile->D8[PITCH] = 25;
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pidProfile->D8[PITCH] = 22;
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pidProfile->P8[YAW] = 80;
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pidProfile->I8[YAW] = 45;
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pidProfile->D8[YAW] = 20;
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@ -232,15 +232,15 @@ static void resetPidProfile(pidProfile_t *pidProfile)
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pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
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pidProfile->yaw_lpf_hz = 80;
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pidProfile->rollPitchItermIgnoreRate = 200;
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pidProfile->yawItermIgnoreRate = 50;
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pidProfile->rollPitchItermIgnoreRate = 130;
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pidProfile->yawItermIgnoreRate = 32;
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pidProfile->dterm_filter_type = FILTER_BIQUAD;
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pidProfile->dterm_lpf_hz = 100; // filtering ON by default
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pidProfile->dterm_notch_hz = 0;
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pidProfile->dterm_notch_cutoff = 150;
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pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
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pidProfile->vbatPidCompensation = 0;
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pidProfile->zeroThrottleStabilisation = PID_STABILISATION_OFF;
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pidProfile->pidAtMinThrottle = PID_STABILISATION_OFF;
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// Betaflight PID controller parameters
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pidProfile->ptermSetpointWeight = 75;
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@ -310,10 +310,9 @@ void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
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{
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#ifdef BRUSHED_MOTORS
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escAndServoConfig->minthrottle = 1000;
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escAndServoConfig->maxthrottle = 2000;
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#else
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escAndServoConfig->minthrottle = 1150;
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escAndServoConfig->maxthrottle = 1850;
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escAndServoConfig->maxthrottle = 2000;
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escAndServoConfig->minthrottle = 1070;
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#endif
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escAndServoConfig->mincommand = 1000;
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escAndServoConfig->servoCenterPulse = 1500;
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