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ITerm rotation (#5469)

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* ITerm rotation

* address requested changes

* now counting up

* scale errors according to Ki while rotating

* iterm_rotation profile setting

* revert to non scaled version, style related fixes

* Triggering a CI build.
This commit is contained in:
joelucid 2018-03-25 23:50:21 +02:00 • committed by Michael Keller
parent d6af4c2d6b
commit ee8daac41d
3 changed files with 21 additions and 2 deletions
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src/main/flight/pid.h
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@ -109,7 +109,7 @@ typedef struct pidProfile_s {
uint16_t dterm_lowpass2_hz; // Extra PT1 Filter on D in hz
uint8_t throttle_boost; // how much should throttle be boosted during transient changes 0-100, 100 adds 10x hpf filtered throttle
uint8_t throttle_boost_cutoff; // Which cutoff frequency to use for throttle boost. higher cutoffs keep the boost on for shorter. Specified in hz.
uint8_t iterm_rotation; // rotates iterm to translate world errors to local coordinate system
} pidProfile_t;
#ifndef USE_OSD_SLAVE