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Added separate yaw pidsum limit

This commit is contained in:
Martin Budden 2017-03-04 07:53:03 +00:00
parent 52c104f4b8
commit 9e4de2ea3b
8 changed files with 12 additions and 16 deletions

View file

@ -230,8 +230,8 @@ void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->I8[PIDVEL] = 55;
pidProfile->D8[PIDVEL] = 75;
pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
pidProfile->pidSumLimit = PIDSUM_LIMIT;
pidProfile->pidSumLimitYaw = PIDSUM_LIMIT_YAW;
pidProfile->yaw_lpf_hz = 0;
pidProfile->itermWindupPointPercent = 50;
pidProfile->dterm_filter_type = FILTER_BIQUAD;