1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 08:45:36 +03:00

Scale down dtermSetpointWeight

This commit is contained in:
borisbstyle 2017-02-16 01:44:27 +01:00
parent f2bb5374e7
commit ff1f9ce770
3 changed files with 4 additions and 4 deletions

View file

@ -160,7 +160,7 @@ void pidInitConfig(const pidProfile_t *pidProfile) {
Ki[axis] = ITERM_SCALE * pidProfile->I8[axis];
Kd[axis] = DTERM_SCALE * pidProfile->D8[axis];
}
dtermSetpointWeight = pidProfile->dtermSetpointWeight / 100.0f;
dtermSetpointWeight = pidProfile->dtermSetpointWeight / 127.0f;
relaxFactor = 1.0f / (pidProfile->setpointRelaxRatio / 100.0f);
levelGain = pidProfile->P8[PIDLEVEL] / 10.0f;
horizonGain = pidProfile->I8[PIDLEVEL] / 10.0f;