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Angular acceleration limit on PID rate setpoint made possible (#427)

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* Angular acceleration limit on PID rate setpoint
This commit is contained in:
Konstantin Sharlaimov 2016-08-06 09:56:47 +03:00 • committed by GitHub
parent f440eadc03
commit 85fe24575d
6 changed files with 54 additions and 18 deletions
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3
src/main/io/serial_cli.c
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@ -811,6 +811,9 @@ const clivalue_t valueTable[] = {
{ "iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
{ "yaw_iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } },
{ "rate_accel_limit_roll_pitch",VAR_UINT32 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.axisAccelerationLimitRollPitch, .config.minmax = {0, 500000 } },
{ "rate_accel_limit_yaw", VAR_UINT32 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.axisAccelerationLimitYaw, .config.minmax = {0, 500000 } },
#ifdef BLACKBOX
{ "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_num, .config.minmax = { 1, 32 }, 0 },
{ "blackbox_rate_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_denom, .config.minmax = { 1, 32 }, 0 },