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

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borisbstyle 2016-08-04 00:50:11 +02:00
parent a64741365c
commit b4e61d49c9
6 changed files with 44 additions and 46 deletions
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src/main/flight/pid.h
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@ -100,8 +100,7 @@ typedef struct pidProfile_s {
uint8_t itermThrottleGain; // Throttle coupling to iterm. Quick throttle changes will bump iterm
uint8_t ptermSetpointWeight; // Setpoint weight for Pterm (lower means more PV tracking)
uint8_t dtermSetpointWeight; // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > agressive derivative)
uint16_t pidMaxVelocity; // velocity limiter for pid controller (per ms)
uint16_t pidMaxVelocityYaw; // velocity limiter for pid controller (per ms) yaw
uint16_t pidMaxVelocityYaw; // velocity limiter for pid controller deg/sec/ms
#ifdef GTUNE
uint8_t gtune_lolimP[3]; // [0..200] Lower limit of P during G tune