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improved altitude hold thanks to Luggi09

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git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@386 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-08-24 14:57:26 +00:00
parent 659a8f537f
commit f663a57613
6 changed files with 137 additions and 56 deletions
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13
src/config.c
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@ -13,7 +13,7 @@ master_t mcfg; // master config struct with data independent from profiles
config_t cfg; // profile config struct
const char rcChannelLetters[] = "AERT1234";
static const uint8_t EEPROM_CONF_VERSION = 48;
static const uint8_t EEPROM_CONF_VERSION = 49;
static uint32_t enabledSensors = 0;
static void resetConf(void);
@ -217,9 +217,9 @@ static void resetConf(void)
cfg.P8[YAW] = 85;
cfg.I8[YAW] = 45;
cfg.D8[YAW] = 0;
cfg.P8[PIDALT] = 64;
cfg.P8[PIDALT] = 50;
cfg.I8[PIDALT] = 25;
cfg.D8[PIDALT] = 24;
cfg.D8[PIDALT] = 80;
cfg.P8[PIDPOS] = 11; // POSHOLD_P * 100;
cfg.I8[PIDPOS] = 0; // POSHOLD_I * 100;
cfg.D8[PIDPOS] = 0;
@ -249,10 +249,13 @@ static void resetConf(void)
cfg.angleTrim[1] = 0;
cfg.mag_declination = 0; // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
cfg.acc_lpf_factor = 4;
cfg.accz_deadband = 50;
cfg.accz_deadband = 40;
cfg.accxy_deadband = 40;
cfg.baro_tab_size = 21;
cfg.baro_noise_lpf = 0.6f;
cfg.baro_cf = 0.985f;
cfg.baro_cf_vel = 0.995f;
cfg.baro_cf_alt = 0.900f;
cfg.acc_unarmedcal = 1;
// Radio
parseRcChannels("AETR1234");