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Dterm robust differentiator Initial Implementation

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This commit is contained in:
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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6
src/main/flight/pid.h
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@ -22,6 +22,10 @@
#define YAW_P_LIMIT_MIN 100 // Maximum value for yaw P limiter
#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)
typedef enum {
PIDROLL,
PIDPITCH,
@ -71,7 +75,7 @@ typedef struct pidProfile_s {
uint8_t deltaMethod; // Alternative delta Calculation
uint16_t yaw_p_limit;
uint8_t dterm_average_count; // Configurable delta count for dterm
uint8_t dynamic_dterm_threshold;
uint8_t dterm_differentiator;
#ifdef GTUNE
uint8_t gtune_lolimP[3]; // [0..200] Lower limit of P during G tune