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

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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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4
src/main/flight/mixer.h
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@ -19,9 +19,6 @@
#define MAX_SUPPORTED_MOTORS 12
#define MAX_SUPPORTED_SERVOS 8
#define YAW_JUMP_PREVENTION_LIMIT_LOW 80
#define YAW_JUMP_PREVENTION_LIMIT_HIGH 500
// Note: this is called MultiType/MULTITYPE_* in baseflight.
typedef enum mixerMode
@ -71,7 +68,6 @@ typedef struct mixer_s {
typedef struct mixerConfig_s {
int8_t yaw_motor_direction;
uint16_t yaw_jump_prevention_limit; // make limit configurable (original fixed value was 100)
#ifdef USE_SERVOS
uint8_t tri_unarmed_servo; // send tail servo correction pulses even when unarmed
uint16_t servo_lowpass_freq; // lowpass servo filter frequency selection; 1/1000ths of loop freq