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Add deadband

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2019-12-26 18:19:52 +01:00
parent f80e44ac41
commit c5bc1903f7
4 changed files with 9 additions and 3 deletions
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5
src/main/navigation/navigation.c
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@ -167,6 +167,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.cruise_yaw_rate = 20, // 20dps
.allow_manual_thr_increase = false,
.useFwNavYawControl = 0,
.yawControlDeadband = 0,
}
);
@ -3212,10 +3213,10 @@ void navigationUsePIDs(void)
0.0f,
NAV_DTERM_CUT_HZ
);
navPidInit(&posControl.pids.fw_heading, (float)pidProfile()->bank_fw.pid[PID_POS_HEADING].P / 10.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_HEADING].I / 10.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_HEADING].D / 10.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_HEADING].D / 100.0f,
0.0f,
2.0f
);