From 0ba3c5e4686755f4933a2d209bfe736eeedb4e7a Mon Sep 17 00:00:00 2001
From: Thorsten Laux <thorsten.laux@gmx.net>
Date: Tue, 5 Mar 2019 09:33:14 +0100
Subject: [PATCH] 4.0 defaults

address feedback

updated defaults and yaw I scaling

switch integrated yaw off by default
---
 src/main/flight/pid.c | 21 +++++++++++++--------
 1 file changed, 13 insertions(+), 8 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index ef363f015..96f884a27 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -133,9 +133,9 @@ void resetPidProfile(pidProfile_t *pidProfile)
 {
     RESET_CONFIG(pidProfile_t, pidProfile,
         .pid = {
-            [PID_ROLL] =  { 46, 65, 35, 60 },
-            [PID_PITCH] = { 50, 75, 38, 60 },
-            [PID_YAW] =   { 45, 100, 0, 100 },
+            [PID_ROLL] =  { 42, 60, 35, 70 },
+            [PID_PITCH] = { 46, 70, 38, 75 },
+            [PID_YAW] =   { 35, 100, 0, 0 },
             [PID_LEVEL] = { 50, 50, 75, 0 },
             [PID_MAG] =   { 40, 0, 0, 0 },
         },
@@ -167,16 +167,16 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .itermLimit = 400,
         .throttle_boost = 5,
         .throttle_boost_cutoff = 15,
-        .iterm_rotation = true,
+        .iterm_rotation = false,
         .smart_feedforward = false,
         .iterm_relax = ITERM_RELAX_RP,
-        .iterm_relax_cutoff = ITERM_RELAX_CUTOFF_DEFAULT,
+        .iterm_relax_cutoff = 20,
         .iterm_relax_type = ITERM_RELAX_SETPOINT,
         .acro_trainer_angle_limit = 20,
         .acro_trainer_lookahead_ms = 50,
         .acro_trainer_debug_axis = FD_ROLL,
         .acro_trainer_gain = 75,
-        .abs_control_gain = 0,
+        .abs_control_gain = 10,
         .abs_control_limit = 90,
         .abs_control_error_limit = 20,
         .abs_control_cutoff = 11,
@@ -196,11 +196,11 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .integrated_yaw_relax = 200,
         .thrustLinearization = 0,
         .d_min = { 20, 22, 0 },      // roll, pitch, yaw
-        .d_min_gain = 20,
+        .d_min_gain = 27,
         .d_min_advance = 20,
         .motor_output_limit = 100,
         .auto_profile_cell_count = AUTO_PROFILE_CELL_COUNT_STAY,
-        .transient_throttle_limit = 0,
+        .transient_throttle_limit = 15,
     );
 #ifdef USE_DYN_LPF
     pidProfile->dterm_lowpass_hz = 150;
@@ -573,6 +573,11 @@ void pidInitConfig(const pidProfile_t *pidProfile)
         pidCoefficient[axis].Kd = DTERM_SCALE * pidProfile->pid[axis].D;
         pidCoefficient[axis].Kf = FEEDFORWARD_SCALE * (pidProfile->pid[axis].F / 100.0f);
     }
+#ifdef USE_INTEGRATED_YAW_CONTROL
+    if (!pidProfile->use_integrated_yaw) {
+#endif        
+        pidCoefficient[FD_YAW].Ki *= 2.5f;
+    }
 
     levelGain = pidProfile->pid[PID_LEVEL].P / 10.0f;
     horizonGain = pidProfile->pid[PID_LEVEL].I / 10.0f;