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Scale down dtermSetpointWeight

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borisbstyle 2017-02-16 01:44:27 +01:00
parent f2bb5374e7
commit ff1f9ce770
3 changed files with 4 additions and 4 deletions
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2
src/main/flight/pid.c
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@ -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;