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D_min smoothing changed to PT2 and re-tuned

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This commit is contained in:
ctzsnooze 2021-08-31 11:37:33 +10:00
parent 86aa5cc84e
commit ff19f3fecb
3 changed files with 16 additions and 16 deletions
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4
src/main/flight/pid.h
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@ -329,8 +329,8 @@ typedef struct pidRuntime_s {
#endif
#ifdef USE_D_MIN
biquadFilter_t dMinRange[XYZ_AXIS_COUNT];
pt1Filter_t dMinLowpass[XYZ_AXIS_COUNT];
pt2Filter_t dMinRange[XYZ_AXIS_COUNT];
pt2Filter_t dMinLowpass[XYZ_AXIS_COUNT];
float dMinPercent[XYZ_AXIS_COUNT];
float dMinGyroGain;
float dMinSetpointGain;