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Finalisation of Betaflight PID controller // RC smoothing added back
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6e99489200
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10 changed files with 186 additions and 153 deletions
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@ -239,11 +239,14 @@ static void resetPidProfile(pidProfile_t *pidProfile)
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pidProfile->zeroThrottleStabilisation = PID_STABILISATION_OFF;
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// Betaflight PID controller parameters
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pidProfile->ptermSetpointWeight = 80;
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pidProfile->dtermSetpointWeight = 0;
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pidProfile->pidMaxVelocity = 1000;
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pidProfile->pidMaxVelocityYaw = 50;
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pidProfile->toleranceBand = 15;
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pidProfile->toleranceBandReduction = 35;
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pidProfile->zeroCrossAllowanceCount = 3;
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pidProfile->accelerationLimitPercent = 20;
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pidProfile->itermThrottleGain = 10;
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pidProfile->toleranceBandReduction = 40;
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pidProfile->zeroCrossAllowanceCount = 2;
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pidProfile->itermThrottleGain = 15;
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#ifdef GTUNE
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pidProfile->gtune_lolimP[ROLL] = 10; // [0..200] Lower limit of ROLL P during G tune.
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@ -524,7 +527,8 @@ static void resetConf(void)
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masterConfig.rxConfig.rssi_channel = 0;
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masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
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masterConfig.rxConfig.rssi_ppm_invert = 0;
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masterConfig.rxConfig.rcSmoothInterval = 0; // 0 is predefined
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masterConfig.rxConfig.rcSmoothing = RC_SMOOTHING_AUTO;
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masterConfig.rxConfig.rcSmoothInterval = 9;
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masterConfig.rxConfig.fpvCamAngleDegrees = 0;
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#ifdef STM32F4
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masterConfig.rxConfig.max_aux_channel = 99;
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