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Replace yaw_jump_prevention_limit by D gain for yaw // new defaults based on flight tests

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This commit is contained in:
borisbstyle 2016-05-24 21:47:57 +02:00
parent df6d564a9d
commit aa61bd4fb4
6 changed files with 34 additions and 26 deletions
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17
src/main/config/config.c
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@ -140,7 +140,7 @@ static uint32_t activeFeaturesLatch = 0;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 136;
static const uint8_t EEPROM_CONF_VERSION = 137;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -154,14 +154,14 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->pidController = 1;
pidProfile->P8[ROLL] = 45;
pidProfile->I8[ROLL] = 55;
pidProfile->I8[ROLL] = 40;
pidProfile->D8[ROLL] = 15;
pidProfile->P8[PITCH] = 45;
pidProfile->I8[PITCH] = 55;
pidProfile->I8[PITCH] = 40;
pidProfile->D8[PITCH] = 15;
pidProfile->P8[YAW] = 90;
pidProfile->I8[YAW] = 50;
pidProfile->D8[YAW] = 0;
pidProfile->I8[YAW] = 45;
pidProfile->D8[YAW] = 10;
pidProfile->P8[PIDALT] = 50;
pidProfile->I8[PIDALT] = 0;
pidProfile->D8[PIDALT] = 0;
@ -184,8 +184,8 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
pidProfile->yaw_lpf_hz = 80;
pidProfile->rollPitchItermIgnoreRate = 200;
pidProfile->yawItermIgnoreRate = 50;;
pidProfile->rollPitchItermIgnoreRate = 180;
pidProfile->yawItermIgnoreRate = 35;
pidProfile->dterm_lpf_hz = 110; // filtering ON by default
pidProfile->dynamic_pid = 1;
@ -308,7 +308,7 @@ void resetSerialConfig(serialConfig_t *serialConfig)
static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
controlRateConfig->rcRate8 = 100;
controlRateConfig->rcExpo8 = 60;
controlRateConfig->rcExpo8 = 70;
controlRateConfig->thrMid8 = 50;
controlRateConfig->thrExpo8 = 0;
controlRateConfig->dynThrPID = 20;
@ -330,7 +330,6 @@ void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) {
void resetMixerConfig(mixerConfig_t *mixerConfig) {
mixerConfig->yaw_motor_direction = 1;
mixerConfig->yaw_jump_prevention_limit = 200;
#ifdef USE_SERVOS
mixerConfig->tri_unarmed_servo = 1;
mixerConfig->servo_lowpass_freq = 400;