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Changed float parameters to int16 in 'cli.c'.
Fixed buffer length used for 'ftoa'. Got rid of magic numbers, replaced 'digitalIdlePercent' with 'digitalIdleValue'.
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16 changed files with 77 additions and 120 deletions
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@ -116,10 +116,10 @@ void resetPidProfile(pidProfile_t *pidProfile)
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.levelSensitivity = 55,
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.setpointRelaxRatio = 100,
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.dtermSetpointWeight = 60,
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.yawRateAccelLimit = 10.0f,
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.rateAccelLimit = 0.0f,
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.yawRateAccelLimit = 100,
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.rateAccelLimit = 0,
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.itermThrottleThreshold = 350,
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.itermAcceleratorGain = 1.0f
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.itermAcceleratorGain = 1000
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);
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}
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@ -242,8 +242,8 @@ void pidInitConfig(const pidProfile_t *pidProfile) {
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levelGain = pidProfile->P8[PIDLEVEL] / 10.0f;
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horizonGain = pidProfile->I8[PIDLEVEL] / 10.0f;
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horizonTransition = 100.0f / pidProfile->D8[PIDLEVEL];
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maxVelocity[FD_ROLL] = maxVelocity[FD_PITCH] = pidProfile->rateAccelLimit * 1000 * dT;
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maxVelocity[FD_YAW] = pidProfile->yawRateAccelLimit * 1000 * dT;
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maxVelocity[FD_ROLL] = maxVelocity[FD_PITCH] = pidProfile->rateAccelLimit * 100 * dT;
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maxVelocity[FD_YAW] = pidProfile->yawRateAccelLimit * 100 * dT;
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ITermWindupPoint = (float)pidProfile->itermWindupPointPercent / 100.0f;
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ITermWindupPointInv = 1.0f / (1.0f - ITermWindupPoint);
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}
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