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Cleanup and optimize new anti windup // Simplify relaxFactor to Dterm

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borisbstyle 2017-01-29 02:15:57 +01:00
parent 9dfb3e45ee
commit ad892400e5
4 changed files with 11 additions and 15 deletions
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3
src/main/fc/cli.c
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@ -707,8 +707,7 @@ const clivalue_t valueTable[] = {
{ "yaw_accel_limit", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0.1f, 50.0f } },
{ "accel_limit", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0.1f, 50.0f } },
{ "iterm_windup", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermWindupPointPercent, .config.minmax = {50, 100 } },
{ "iterm_noise_threshold", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermNoiseThreshold, .config.minmax = {0, 20 } },
{ "iterm_windup", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermWindupPointPercent, .config.minmax = {30, 100 } },
{ "yaw_lowpass", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },
{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, &pidConfig()->pid_process_denom, .config.minmax = { 1, 16 } },