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new Baseflight PID

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full gyro scale is used now
and a new pid with float calculations was added based on PIDrewrite
eeprom size was also increased from 1kB to 2kB
This commit is contained in:
Lukas S 2013-11-03 03:40:16 +01:00
parent bff260c7c6
commit b996b26cbb
11 changed files with 192 additions and 31 deletions
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8
src/mw.h
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@ -150,10 +150,16 @@ enum {
#define CALIBRATING_BARO_CYCLES 200
typedef struct config_t {
uint8_t pidController; // 0 = multiwii original, 1 = rewrite from http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671
uint8_t pidController; // 0 = multiwii original, 1 = rewrite from http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671, 2 = Luggi09s new baseflight pid
uint8_t P8[PIDITEMS];
uint8_t I8[PIDITEMS];
uint8_t D8[PIDITEMS];
float P_f[3]; // float p i and d factors for the new baseflight pid
float I_f[3];
float D_f[3];
float A_level;
float H_level;
uint8_t rcRate8;
uint8_t rcExpo8;