Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-22 07:45:29 +03:00
Code Issues Wiki Activity

More efficiency in PID code // add yaw velocity to setpoint

Browse source
This commit is contained in:
borisbstyle 2016-08-04 00:50:11 +02:00
parent a64741365c
commit b4e61d49c9
6 changed files with 44 additions and 46 deletions
Download patch file Download diff file Expand all files Collapse all files

3
src/main/config/config.c
View file

@ -245,8 +245,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
// Betaflight PID controller parameters
pidProfile->ptermSetpointWeight = 75;
pidProfile->dtermSetpointWeight = 200;
pidProfile->pidMaxVelocity = 1000;
pidProfile->pidMaxVelocityYaw = 50;
pidProfile->pidMaxVelocityYaw = 200;
pidProfile->toleranceBand = 20;
pidProfile->toleranceBandReduction = 40;
pidProfile->zeroCrossAllowanceCount = 2;