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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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src/main/flight/pid.h
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@ -67,7 +67,6 @@ typedef struct pidProfile_s {
uint16_t dterm_notch_hz; // Biquad dterm notch hz
uint16_t dterm_notch_cutoff; // Biquad dterm notch low cutoff
uint8_t itermWindupPointPercent; // Experimental ITerm windup threshold, percent motor saturation
uint8_t itermNoiseThreshold; // Experimental ITerm noise threshold
uint16_t yaw_p_limit;
float pidSumLimit;
uint8_t dterm_average_count; // Configurable delta count for dterm