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Add Iterm Relax unittest // refactor

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Refactor PID code Iterm Relax and Absolute control

Move defines for unittest to Makefile

Fix unittest isAirmodeActivated()

Absolute control unittests + optimizations

Fix dead code absolute control // unittests

Further optimizations to absolute control switch logic
This commit is contained in:
borisbstyle 2018-09-10 21:56:18 +02:00
parent fff8045ba7
commit afccf50d96
4 changed files with 185 additions and 67 deletions
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2
src/main/flight/pid.h
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@ -43,6 +43,8 @@
// This value gives the same "feel" as the previous Kd default of 26 (26 * DTERM_SCALE)
#define FEEDFORWARD_SCALE 0.013754f
#define ITERM_RELAX_SETPOINT_THRESHOLD 30.0f
typedef enum {
PID_ROLL,
PID_PITCH,