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PID: P-term LPF on Yaw axis

This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2016-05-11 21:18:32 +10:00
parent 40a9344dfb
commit f2aa40dac3
4 changed files with 13 additions and 4 deletions

View file

@ -665,10 +665,8 @@ const clivalue_t valueTable[] = {
{ "throttle_tilt_comp_str", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].throttle_tilt_compensation_strength, .config.minmax = { 0, 100 }, 0 },
{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.yaw_control_direction, .config.minmax = { -1, 1 }, 0 },
{ "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_motor_direction, .config.minmax = { -1, 1 }, 0 },
{ "yaw_jump_prevention_limit", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, .config.minmax = { YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH }, 0 },
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX }, 0 },
#ifdef USE_SERVOS
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON }, 0 },
@ -730,6 +728,9 @@ const clivalue_t valueTable[] = {
{ "gyro_soft_lpf_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gyro_soft_lpf_hz, .config.minmax = {0, 200 } },
{ "acc_soft_lpf_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.acc_soft_lpf_hz, .config.minmax = {0, 200 } },
{ "dterm_lpf_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 200 } },
{ "yaw_lpf_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 200 } },
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX }, 0 },
#ifdef BLACKBOX
{ "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_num, .config.minmax = { 1, 32 }, 0 },