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idle

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This commit is contained in:
Thorsten Laux 2019-07-22 07:31:44 +02:00
parent 383ba1cd8e
commit d474df3149
6 changed files with 60 additions and 5 deletions
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13
src/main/flight/pid.h
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@ -171,6 +171,15 @@ typedef struct pidProfile_s {
int8_t auto_profile_cell_count; // Cell count for this profile to be used with if auto PID profile switching is used
uint8_t transient_throttle_limit; // Maximum DC component of throttle change to mix into throttle to prevent airmode mirroring noise
char profileName[MAX_PROFILE_NAME_LENGTH + 1]; // Descriptive name for profile
uint8_t idle_hz; // minimum motor speed enforced by integrating p controller
uint8_t idle_throttle; // added to throttle, replaces dshot_idle_value
uint8_t idle_adjustment_speed; // how quickly the integrating p controller tries to correct
uint8_t idle_p; // kP
uint8_t idle_pid_limit; // max P
uint8_t idle_max_increase; // max integrated correction
} pidProfile_t;
PG_DECLARE_ARRAY(pidProfile_t, PID_PROFILE_COUNT, pidProfiles);
@ -246,3 +255,7 @@ void dynLpfDTermUpdate(float throttle);
void pidSetItermReset(bool enabled);
float pidGetPreviousSetpoint(int axis);
extern float dT;
extern float pidFrequency;