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Finalisation of Betaflight PID controller // RC smoothing added back

This commit is contained in:
borisbstyle 2016-07-27 14:30:51 +02:00
parent 6e99489200
commit c11c50287e
10 changed files with 186 additions and 153 deletions

View file

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