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Code Issues Wiki Activity

S-term (for wings) (#13679)

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* S-term for wings

* tabs

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* pidData[axis].S

---------

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
This commit is contained in:
Ivan Efimov 2024-06-20 06:01:13 -04:00 • committed by GitHub
parent 00ca8232d5
commit e2e1a68ba0
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GPG key ID: B5690EEEBB952194
8 changed files with 51 additions and 10 deletions
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9
src/test/unit/pid_unittest.cc
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@ -114,10 +114,10 @@ void setDefaultTestSettings(void)
{
pgResetAll();
pidProfile = pidProfilesMutable(1);
pidProfile->pid[PID_ROLL] = { 40, 40, 30, 65 };
pidProfile->pid[PID_PITCH] = { 58, 50, 35, 60 };
pidProfile->pid[PID_YAW] = { 70, 45, 20, 60 };
pidProfile->pid[PID_LEVEL] = { 50, 50, 75, 50 };
pidProfile->pid[PID_ROLL] = { 40, 40, 30, 65, 0 };
pidProfile->pid[PID_PITCH] = { 58, 50, 35, 60, 0 };
pidProfile->pid[PID_YAW] = { 70, 45, 20, 60, 0 };
pidProfile->pid[PID_LEVEL] = { 50, 50, 75, 50, 0 };
// Compensate for the upscaling done without 'use_integrated_yaw'
pidProfile->pid[PID_YAW].I = pidProfile->pid[PID_YAW].I / 2.5f;
@ -183,6 +183,7 @@ void resetTest(void)
pidData[axis].I = 0;
pidData[axis].D = 0;
pidData[axis].F = 0;
pidData[axis].S = 0;
pidData[axis].Sum = 0;
simulatedSetpointRate[axis] = 0;
simulatedRcDeflection[axis] = 0;