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Move to pid.c, add relax to offset drag based component, make configurable

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Thorsten Laux 2018-12-09 14:21:44 +01:00
parent 4442de5591
commit d4512672fe
3 changed files with 20 additions and 1 deletions
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src/main/flight/pid.h
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@ -156,7 +156,10 @@ typedef struct pidProfile_s {
uint8_t launchControlAngleLimit; // Optional launch control angle limit (requires ACC)
uint8_t launchControlGain; // Iterm gain used while launch control is active
uint8_t launchControlAllowTriggerReset; // Controls trigger behavior and whether the trigger can be reset
uint8_t use_integrated_yaw; // Selects whether the yaw pidsum should integrated
uint8_t integrated_yaw_relax; // Specifies how much integrated yaw should be reduced to offset the drag based yaw component
} pidProfile_t;
PG_DECLARE_ARRAY(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles);