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Code Issues Wiki Activity

Initial dynamic PID implementation

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New Defaults and some rework in dynamic PID

Cli Fixes

Copy / Paste Protection

Change Stick threshold

Remove differentiator

Change Default PIDs
This commit is contained in:
borisbstyle 2016-04-30 23:20:06 +02:00
parent ad756bceb4
commit a4456ce6b9
7 changed files with 48 additions and 70 deletions
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7
src/main/flight/pid.h
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@ -22,9 +22,8 @@
#define YAW_P_LIMIT_MIN 100 // Maximum value for yaw P limiter
#define YAW_P_LIMIT_MAX 400 // Maximum value for yaw P limiter
#define PID_LAST_RATE_COUNT 7
#define ITERM_RESET_THRESHOLD 20
#define ITERM_RESET_THRESHOLD_YAW 10
#define ITERM_RESET_THRESHOLD 15
#define DYNAMIC_PTERM_STICK_THRESHOLD 400
typedef enum {
PIDROLL,
@ -81,7 +80,7 @@ typedef struct pidProfile_s {
uint16_t yawItermResetRate; // Experimental threshold for resetting iterm for yaw on certain rates
uint16_t yaw_p_limit;
uint8_t dterm_average_count; // Configurable delta count for dterm
uint8_t dterm_differentiator;
uint8_t dynamic_pterm;
#ifdef GTUNE
uint8_t gtune_lolimP[3]; // [0..200] Lower limit of P during G tune