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Scale down dtermSetpointWeight
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commit
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3 changed files with 4 additions and 4 deletions
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@ -160,7 +160,7 @@ void pidInitConfig(const pidProfile_t *pidProfile) {
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Ki[axis] = ITERM_SCALE * pidProfile->I8[axis];
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Kd[axis] = DTERM_SCALE * pidProfile->D8[axis];
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}
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dtermSetpointWeight = pidProfile->dtermSetpointWeight / 100.0f;
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dtermSetpointWeight = pidProfile->dtermSetpointWeight / 127.0f;
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relaxFactor = 1.0f / (pidProfile->setpointRelaxRatio / 100.0f);
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levelGain = pidProfile->P8[PIDLEVEL] / 10.0f;
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horizonGain = pidProfile->I8[PIDLEVEL] / 10.0f;
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