Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-17 13:25:30 +03:00
Code Issues Wiki Activity

Insane Acro factor renamed to Acro plus factor // Rates are softened

Browse source
This commit is contained in:
borisbstyle 2016-01-18 11:50:45 +01:00
parent f69943d095
commit f70cb8177e
2 changed files with 5 additions and 5 deletions
Download patch file Download diff file Expand all files Collapse all files

8
src/main/flight/pid.c
View file

@ -148,9 +148,9 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// ----------PID controller---------- // ----------PID controller----------
for (axis = 0; axis < 3; axis++) { for (axis = 0; axis < 3; axis++) {
uint8_t rate = 0; uint8_t rate = 10;
// -----Get the desired angle rate depending on flight mode // -----Get the desired angle rate depending on flight mode
if (axis == YAW && !pidProfile->airModeInsaneAcrobilityFactor) { if (axis == YAW || !pidProfile->airModeInsaneAcrobilityFactor || !IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
rate = controlRateConfig->rates[axis]; rate = controlRateConfig->rates[axis];
} }
@ -280,9 +280,9 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
// ----------PID controller---------- // ----------PID controller----------
for (axis = 0; axis < 3; axis++) { for (axis = 0; axis < 3; axis++) {
uint8_t rate = 0; uint8_t rate = 10;
// -----Get the desired angle rate depending on flight mode // -----Get the desired angle rate depending on flight mode
if (axis == YAW || !pidProfile->airModeInsaneAcrobilityFactor) { if (axis == YAW || !pidProfile->airModeInsaneAcrobilityFactor || !IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
rate = controlRateConfig->rates[axis]; rate = controlRateConfig->rates[axis];
} }

2
src/main/io/serial_cli.c
View file

@ -659,7 +659,7 @@ const clivalue_t valueTable[] = {
{ "gyro_lpf_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gyro_lpf_hz, .config.minmax = {0, 255 } }, { "gyro_lpf_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gyro_lpf_hz, .config.minmax = {0, 255 } },
{ "dterm_lpf_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 255 } }, { "dterm_lpf_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 255 } },
{ "insane_acro_factor", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.airModeInsaneAcrobilityFactor, .config.minmax = {0, 100 } }, { "acro_plus_factor", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.airModeInsaneAcrobilityFactor, .config.minmax = {0, 100 } },
#ifdef BLACKBOX #ifdef BLACKBOX
{ "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_num, .config.minmax = { 1, 32 } }, { "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_num, .config.minmax = { 1, 32 } },