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Add ITerm anti-windup based on motor output saturation

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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
This commit is contained in:
Martin Budden 2017-01-26 18:15:29 +00:00 • committed by borisbstyle
parent 990c13b7ea
commit 9dfb3e45ee
8 changed files with 39 additions and 22 deletions
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4
src/main/flight/pid.h
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@ -66,8 +66,8 @@ typedef struct pidProfile_s {
uint16_t yaw_lpf_hz; // Additional yaw filter when yaw axis too noisy
uint16_t dterm_notch_hz; // Biquad dterm notch hz
uint16_t dterm_notch_cutoff; // Biquad dterm notch low cutoff
uint16_t rollPitchItermIgnoreRate; // Experimental threshold for resetting iterm for pitch and roll on certain rates
uint16_t yawItermIgnoreRate; // Experimental threshold for resetting iterm for yaw on certain rates
uint8_t itermWindupPointPercent; // Experimental ITerm windup threshold, percent motor saturation
uint8_t itermNoiseThreshold; // Experimental ITerm noise threshold
uint16_t yaw_p_limit;
float pidSumLimit;
uint8_t dterm_average_count; // Configurable delta count for dterm