Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-17 21:35:44 +03:00
Code Issues Wiki Activity

Another documentation upddate for the Harakiri PID controller

Browse source
This commit is contained in:
Michael Jakob 2015-01-27 10:42:41 +01:00
parent a5c3c26686
commit db8d539cbb
1 changed files with 1 additions and 1 deletions
Download patch file Download diff file Expand all files Collapse all files

2
docs/PID tuning.md
View file

@ -126,7 +126,7 @@ For the ALIENWII32 targets the gyroscale is removed for more yaw authority. This
PID Controller 5 is an port of the PID controller from the Harakiri firmware.
The algorithm is leveraging more floating point math. Actually there are two settings hardcoded which are configurable via the GUI in Harakiri:
The algorithm is leveraging more floating point math. This PID controller is also compensates for different looptimes on roll and pitch. It likely don’t need retuning of the PID values. Actually there are two settings hardcoded which are configurable via the GUI in Harakiri:
OLD_YAW 0 // [0/1] 0 = multiwii 2.3 yaw, 1 = older yaw.
MAIN_CUT_HZ 12.0f // (default 12Hz, Range 1-50Hz)