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Add ITerm anti-windup based on motor output saturation
Added noise threshold for PID ITerm accumulation Removed ITerm setpoint scaler. Added CLI and MSP settings Made default ITerm noise threshold zero. Added CLI setting. Removed itermWindupPointPercent from MSP
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8 changed files with 39 additions and 22 deletions
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@ -169,8 +169,8 @@ static void resetPidProfile(pidProfile_t *pidProfile)
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pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
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pidProfile->pidSumLimit = PIDSUM_LIMIT;
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pidProfile->yaw_lpf_hz = 0;
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pidProfile->rollPitchItermIgnoreRate = 200;
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pidProfile->yawItermIgnoreRate = 55;
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pidProfile->itermWindupPointPercent = 75;
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pidProfile->itermNoiseThreshold = 0;
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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 = 260;
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