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Change Actuator scaling to percentage

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just makes it easier to understand
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borisbstyle 2017-01-06 11:21:16 +01:00 • committed by GitHub
parent 075b387167
commit bdc4483151
1 changed files with 4 additions and 4 deletions
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8
src/main/flight/pid.h
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@ -20,15 +20,15 @@
#include <stdbool.h>
#define PID_CONTROLLER_BETAFLIGHT 1
#define PID_MIXER_SCALING 900.0f
#define PID_MIXER_SCALING 100.0f
#define YAW_P_LIMIT_MIN 100 // Maximum value for yaw P limiter
#define YAW_P_LIMIT_MAX 500 // Maximum value for yaw P limiter
#define PIDSUM_LIMIT 0.5f
// Scaling factors for Pids for better tunable range in configurator for betaflight pid controller. The scaling is based on legacy pid controller or previous float
#define PTERM_SCALE 0.032029f
#define ITERM_SCALE 0.244381f
#define DTERM_SCALE 0.000529f
#define PTERM_SCALE 0.003558774f
#define ITERM_SCALE 0.027153417f
#define DTERM_SCALE 0.000058778f
typedef enum {
PIDROLL,