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Defaults set, Annotations

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Default threshold 40 deg/sec
Anotations provided to explain
- cutoff independence factor when calculating itermRelaxSetpointThreshold
- meaning of ITERM_RELAX_SETPOINT_THRESHOLD
This commit is contained in:
ctzsnooze 2019-03-01 18:41:56 +11:00
parent a646c09c2c
commit a0237e6cde
2 changed files with 3 additions and 2 deletions
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1
src/main/flight/pid.c
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@ -621,6 +621,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
itermRelax = pidProfile->iterm_relax;
itermRelaxType = pidProfile->iterm_relax_type;
itermRelaxCutoff = pidProfile->iterm_relax_cutoff;
// 20.0f below is current default itermRelaxCutoff value, to adapt setpoint to change from cutoff
itermRelaxSetpointThreshold = ITERM_RELAX_SETPOINT_THRESHOLD * 20.0f / itermRelaxCutoff;
#endif

4
src/main/flight/pid.h
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@ -44,8 +44,8 @@
// This value gives the same "feel" as the previous Kd default of 26 (26 * DTERM_SCALE)
#define FEEDFORWARD_SCALE 0.013754f
// Full iterm suppression at 40deg/sec * default cutoff of 20
#define ITERM_RELAX_SETPOINT_THRESHOLD 30.0f
// Full iterm suppression in setpoint mode at high-passed setpoint rate > 40deg/sec
#define ITERM_RELAX_SETPOINT_THRESHOLD 40.0f
typedef enum {
PID_ROLL,