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use original D term factor

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breadoven 2025-06-24 17:59:21 +01:00
parent 83d162c600
commit 9d8b1a24d6
1 changed files with 1 additions and 1 deletions
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src/main/navigation/navigation.c
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@ -4962,7 +4962,7 @@ void navigationUsePIDs(void)
if (pidProfile()->fwAltControlUsePos) { if (pidProfile()->fwAltControlUsePos) {
navPidInit(&posControl.pids.fw_alt, (float)pidProfile()->bank_fw.pid[PID_POS_Z].P / 100.0f, navPidInit(&posControl.pids.fw_alt, (float)pidProfile()->bank_fw.pid[PID_POS_Z].P / 100.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_Z].I / 100.0f, (float)pidProfile()->bank_fw.pid[PID_POS_Z].I / 100.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_Z].D / 30.0f, (float)pidProfile()->bank_fw.pid[PID_POS_Z].D / 100.0f,
0.0f, 0.0f,
NAV_DTERM_CUT_HZ, NAV_DTERM_CUT_HZ,
0.0f 0.0f