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Smoothed Derivative from Error // Fix Iterm accumulation issues // Defaultss

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Saturation rework
This commit is contained in:
borisbstyle 2016-06-07 01:19:34 +02:00
parent 49defe8c68
commit d214f8602d
10 changed files with 104 additions and 103 deletions
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4
src/main/flight/pid.h
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@ -86,8 +86,8 @@ typedef struct pidProfile_s {
struct controlRateConfig_s;
union rollAndPitchTrims_u;
struct rxConfig_s;
typedef void (*pidControllerFuncPtr)(const pidProfile_t *pidProfile, const struct controlRateConfig_s *controlRateConfig,
uint16_t max_angle_inclination, const union rollAndPitchTrims_u *angleTrim, const struct rxConfig_s *rxConfig); // pid controller function prototype
typedef void (*pidControllerFuncPtr)(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
const union rollAndPitchTrims_u *angleTrim, const struct rxConfig_s *rxConfig); // pid controller function prototype
extern int16_t axisPID[XYZ_AXIS_COUNT];
extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];