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Harakiri PID controller make hardcoded parameters configurable

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This commit is contained in:
Michael Jakob 2015-02-26 20:40:28 +01:00
parent 9f95334347
commit b20dc77a74
4 changed files with 14 additions and 2 deletions
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2
src/main/flight/pid.h
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@ -61,7 +61,9 @@ typedef struct pidProfile_s {
float A_level;
float H_level;
uint8_t H_sensitivity;
uint16_t yaw_p_limit; // set P term limit (fixed value was 300)
uint8_t pid5_oldyw; // Old yaw behavior for PID5
uint8_t dterm_cut_hz; // (default 17Hz, Range 1-50Hz) Used for PT1 element in PID1, PID2 and PID5
uint8_t pterm_cut_hz; // Used for fitlering Pterm noise on noisy frames
uint8_t gyro_cut_hz; // Used for soft gyro filtering