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