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Dterm robust differentiator Initial Implementation

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borisbstyle 2016-04-27 21:08:15 +02:00
parent f4219aebba
commit cbcf028302
4 changed files with 35 additions and 46 deletions
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2
src/main/config/config.c
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@ -179,7 +179,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
pidProfile->yaw_lpf_hz = 70.0f;
pidProfile->dterm_average_count = 0;
pidProfile->dynamic_dterm_threshold = 20;
pidProfile->dterm_differentiator = 1;
pidProfile->rollPitchItermResetRate = 200;
pidProfile->yawItermResetRate = 50;
pidProfile->dterm_lpf_hz = 70.0f; // filtering ON by default