Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-15 20:35:33 +03:00
Code Issues Wiki Activity

Defaults set, Annotations

Browse source 
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
Download patch file Download diff file Expand all files Collapse all files

1
src/main/flight/pid.c
View file

@ -621,6 +621,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
itermRelax = pidProfile->iterm_relax; itermRelax = pidProfile->iterm_relax;
itermRelaxType = pidProfile->iterm_relax_type; itermRelaxType = pidProfile->iterm_relax_type;
itermRelaxCutoff = pidProfile->iterm_relax_cutoff; 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; itermRelaxSetpointThreshold = ITERM_RELAX_SETPOINT_THRESHOLD * 20.0f / itermRelaxCutoff;
#endif #endif

4
src/main/flight/pid.h
View file

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