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attempts to improve relax

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attempts to improve relax fix

attempts to improve relax fix

bug fixes

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changed settings and added isAirmodeActive()

fix rebase error
This commit is contained in:
Thorsten Laux 2018-06-05 13:33:20 +02:00 • committed by Michael Keller
parent 7936fb07d5
commit fefedbd686
6 changed files with 101 additions and 67 deletions
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10
src/main/flight/pid.h
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@ -83,6 +83,12 @@ typedef enum
ITERM_RELAX_RPY
} itermRelax_e;
typedef enum
{
ITERM_RELAX_GYRO,
ITERM_RELAX_SETPOINT
} itermRelaxType_e;
typedef struct pidProfile_s {
uint16_t yaw_lowpass_hz; // Additional yaw filter when yaw axis too noisy
uint16_t dterm_lowpass_hz; // Delta Filter in hz
@ -124,8 +130,8 @@ typedef struct pidProfile_s {
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
uint8_t smart_feedforward; // takes only the larger of P and the D weight feed forward term if they have the same sign.
uint8_t iterm_relax_cutoff_low; // Slowest setpoint response to prevent iterm accumulation
uint8_t iterm_relax_cutoff_high; // Fastest setpoint response to prevent iterm accumulation
uint8_t iterm_relax_type; // Specifies type of relax algorithm
uint8_t iterm_relax_cutoff; // This cutoff frequency specifies a low pass filter which predicts average response of the quad to setpoint
uint8_t iterm_relax; // Enable iterm suppression during stick input
uint8_t acro_trainer_angle_limit; // Acro trainer roll/pitch angle limit in degrees
uint8_t acro_trainer_debug_axis; // The axis for which record debugging values are captured 0=roll, 1=pitch