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Added motor output limiting per profile.

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mikeller 2019-01-27 19:10:05 +13:00
parent 4bff464b92
commit a3cf7e0cf7
5 changed files with 28 additions and 11 deletions
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src/main/flight/pid.h
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@ -164,6 +164,7 @@ typedef struct pidProfile_s {
uint8_t dterm_cut_gain; // Gain factor for amount of gyro activity required to remove the dterm cut
uint8_t dterm_cut_range_hz; // Biquad to prevent high frequency gyro noise from removing the dterm cut
uint8_t dterm_cut_lowpass_hz; // First order lowpass to delay and smooth dterm cut factor
uint8_t motor_output_limit; // Upper limit of the motor output (percent)
} pidProfile_t;
PG_DECLARE_ARRAY(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles);