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Merge branch 'master' into development
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e7bd930ff5
4 changed files with 5 additions and 2 deletions
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@ -22,6 +22,7 @@
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#define YAW_P_LIMIT_MAX 500 // Maximum value for yaw P limiter
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#define YAW_JUMP_PREVENTION_LIMIT_LOW 80
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#define YAW_JUMP_PREVENTION_LIMIT_HIGH 400
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#define PIDSUM_LIMIT 700
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#define DYNAMIC_PTERM_STICK_THRESHOLD 400
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@ -83,6 +84,7 @@ typedef struct pidProfile_s {
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uint16_t rollPitchItermIgnoreRate; // Experimental threshold for resetting iterm for pitch and roll on certain rates
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uint16_t yawItermIgnoreRate; // Experimental threshold for resetting iterm for yaw on certain rates
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uint16_t yaw_p_limit;
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uint16_t pidSumLimit;
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uint8_t dterm_average_count; // Configurable delta count for dterm
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uint8_t vbatPidCompensation; // Scale PIDsum to battery voltage
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uint8_t pidAtMinThrottle; // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.
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