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make itermRelax into enum

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This commit is contained in:
Thorsten Laux 2018-05-29 16:40:23 +02:00
parent 5bdc2ead61
commit dc929baf75
2 changed files with 13 additions and 4 deletions
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11
src/main/flight/pid.h
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@ -76,6 +76,15 @@ typedef struct pid8_s {
uint8_t D;
} pid8_t;
typedef enum
{
ITERM_RELAX_OFF,
ITERM_RELAX_RP,
ITERM_RELAX_RPY
} itermRelax_e;
typedef struct pidProfile_s {
pid8_t pid[PID_ITEM_COUNT];
@ -118,7 +127,7 @@ typedef struct pidProfile_s {
uint8_t smart_feedforward; // takes only the larger of P and the D weight feed forward term if they have the same sign.
uint8_t iterm_relax_cutoff_low; // Slowest setpoint response to prevent iterm accumulation
uint8_t iterm_relax_cutoff_high; // Fastest setpoint response to prevent iterm accumulation
uint8_t iterm_relax; // Enable iterm suppression during stick input
itermRelax_e iterm_relax; // Enable iterm suppression during stick input
} pidProfile_t;