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Cleanup and optimize new anti windup // Simplify relaxFactor to Dterm
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4 changed files with 11 additions and 15 deletions
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@ -169,8 +169,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
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pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
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pidProfile->pidSumLimit = PIDSUM_LIMIT;
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pidProfile->yaw_lpf_hz = 0;
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pidProfile->itermWindupPointPercent = 75;
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pidProfile->itermNoiseThreshold = 0;
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pidProfile->itermWindupPointPercent = 50;
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pidProfile->dterm_filter_type = FILTER_BIQUAD;
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pidProfile->dterm_lpf_hz = 100; // filtering ON by default
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pidProfile->dterm_notch_hz = 260;
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