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TPA added for Yaw // Cleanup unused config params

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borisbstyle 2016-04-27 22:15:39 +02:00
parent 86c2e12c07
commit bef46dd120
5 changed files with 2 additions and 22 deletions
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3
src/main/flight/pid.h
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@ -23,8 +23,6 @@
#define YAW_P_LIMIT_MAX 400 // Maximum value for yaw P limiter
#define PID_LAST_RATE_COUNT 7
#define PID_DTERM_FIR_MAX_LENGTH 7
#define PID_MAX_DIFFERENTIATOR (PID_DTERM_FIR_MAX_LENGTH-2)
#define ITERM_RESET_THRESHOLD 20
#define ITERM_RESET_THRESHOLD_YAW 10
@ -81,7 +79,6 @@ typedef struct pidProfile_s {
uint16_t rollPitchItermResetRate; // Experimental threshold for resetting iterm for pitch and roll on certain rates
uint8_t rollPitchItermResetAlways; // Reset Iterm also without SUPER EXPO
uint16_t yawItermResetRate; // Experimental threshold for resetting iterm for yaw on certain rates
uint8_t deltaMethod; // Alternative delta Calculation
uint16_t yaw_p_limit;
uint8_t dterm_average_count; // Configurable delta count for dterm
uint8_t dterm_differentiator;