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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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2
src/main/flight/pid.h
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@ -21,6 +21,8 @@
#define GYRO_I_MAX 256 // Gyro I limiter
#define YAW_P_LIMIT_MIN 100 // Maximum value for yaw P limiter
#define YAW_P_LIMIT_MAX 500 // Maximum value for yaw P limiter
#define YAW_JUMP_PREVENTION_LIMIT_LOW 80
#define YAW_JUMP_PREVENTION_LIMIT_HIGH 400
#define DYNAMIC_PTERM_STICK_THRESHOLD 400