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Changed float parameters to int16 in 'cli.c'.

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Fixed buffer length used for 'ftoa'.

Got rid of magic numbers, replaced 'digitalIdlePercent' with 'digitalIdleValue'.
This commit is contained in:
Michael Keller 2017-03-30 12:12:20 +13:00
parent ce8c5fbd79
commit 9c29475ba4
16 changed files with 77 additions and 120 deletions
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10
src/main/flight/pid.c
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@ -116,10 +116,10 @@ void resetPidProfile(pidProfile_t *pidProfile)
.levelSensitivity = 55,
.setpointRelaxRatio = 100,
.dtermSetpointWeight = 60,
.yawRateAccelLimit = 10.0f,
.rateAccelLimit = 0.0f,
.yawRateAccelLimit = 100,
.rateAccelLimit = 0,
.itermThrottleThreshold = 350,
.itermAcceleratorGain = 1.0f
.itermAcceleratorGain = 1000
);
}
@ -242,8 +242,8 @@ void pidInitConfig(const pidProfile_t *pidProfile) {
levelGain = pidProfile->P8[PIDLEVEL] / 10.0f;
horizonGain = pidProfile->I8[PIDLEVEL] / 10.0f;
horizonTransition = 100.0f / pidProfile->D8[PIDLEVEL];
maxVelocity[FD_ROLL] = maxVelocity[FD_PITCH] = pidProfile->rateAccelLimit * 1000 * dT;
maxVelocity[FD_YAW] = pidProfile->yawRateAccelLimit * 1000 * dT;
maxVelocity[FD_ROLL] = maxVelocity[FD_PITCH] = pidProfile->rateAccelLimit * 100 * dT;
maxVelocity[FD_YAW] = pidProfile->yawRateAccelLimit * 100 * dT;
ITermWindupPoint = (float)pidProfile->itermWindupPointPercent / 100.0f;
ITermWindupPointInv = 1.0f / (1.0f - ITermWindupPoint);
}