PID code cleanup // refactoring

src/main/blackbox/blackbox.c

@@ -1261,8 +1261,8 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("itermThrottleThreshold:%d",           currentProfile->pidProfile.itermThrottleThreshold);
         BLACKBOX_PRINT_HEADER_LINE("setpointRelaxRatio:%d",               currentProfile->pidProfile.setpointRelaxRatio);
         BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight:%d",              currentProfile->pidProfile.dtermSetpointWeight);
-        BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d",                currentProfile->pidProfile.yawRateAccelLimit);
+        BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d",                castFloatBytesToInt(currentProfile->pidProfile.yawRateAccelLimit));
-        BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d",                   currentProfile->pidProfile.rateAccelLimit);
+        BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d",                   castFloatBytesToInt(currentProfile->pidProfile.rateAccelLimit));
         // End of Betaflight controller parameters
 
         BLACKBOX_PRINT_HEADER_LINE("deadband:%d",                         rcControlsConfig()->deadband);

src/main/fc/config.c

@@ -176,12 +176,13 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->dterm_notch_cutoff = 160;
     pidProfile->vbatPidCompensation = 0;
     pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
+    pidProfile->max_angle_inclination = 70.0f;    // 70 degrees
 
     // Betaflight PID controller parameters
     pidProfile->setpointRelaxRatio = 30;
     pidProfile->dtermSetpointWeight = 200;
-    pidProfile->yawRateAccelLimit = 220;
+    pidProfile->yawRateAccelLimit = 20.0f;
-    pidProfile->rateAccelLimit = 0;
+    pidProfile->rateAccelLimit = 0.0f;
     pidProfile->itermThrottleThreshold = 350;
     pidProfile->levelSensitivity = 2.0f;
 }
@@ -612,7 +613,6 @@ void createDefaultConfig(master_t *config)
     config->gyroConfig.gyro_sync_denom = 4;
     config->pidConfig.pid_process_denom = 2;
 #endif
-    config->pidConfig.max_angle_inclination = 700;    // 70 degrees
     config->gyroConfig.gyro_soft_lpf_type = FILTER_PT1;
     config->gyroConfig.gyro_soft_lpf_hz = 90;
     config->gyroConfig.gyro_soft_notch_hz_1 = 400;

src/main/fc/fc_main.c

@@ -92,13 +92,25 @@ uint8_t motorControlEnable = false;
 int16_t telemTemperature1;      // gyro sensor temperature
 static uint32_t disarmAt;     // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
 
-extern uint8_t PIDweight[3];
+static float throttlePIDAttenuation;
 
 uint16_t filteredCycleTime;
 bool isRXDataNew;
 static bool armingCalibrationWasInitialised;
-float setpointRate[3];
+static float setpointRate[3];
-float rcInput[3];
+static float rcDeflection[3];
+
+float getThrottlePIDAttenuation(void) {
+    return throttlePIDAttenuation;
+}
+
+float getSetpointRate(int axis) {
+    return setpointRate[axis];
+}
+
+float getRcDeflection(int axis) {
+    return rcDeflection[axis];
+}
 
 void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsDelta)
 {
@@ -137,11 +149,11 @@ void calculateSetpointRate(int axis, int16_t rc) {
 
     if (rcRate > 2.0f) rcRate = rcRate + (RC_RATE_INCREMENTAL * (rcRate - 2.0f));
     rcCommandf = rc / 500.0f;
-    rcInput[axis] = ABS(rcCommandf);
+    rcDeflection[axis] = ABS(rcCommandf);
 
     if (rcExpo) {
         float expof = rcExpo / 100.0f;
-        rcCommandf = rcCommandf * power3(rcInput[axis]) * expof + rcCommandf * (1-expof);
+        rcCommandf = rcCommandf * power3(rcDeflection[axis]) * expof + rcCommandf * (1-expof);
     }
 
     angleRate = 200.0f * rcRate * rcCommandf;
@@ -270,17 +282,18 @@ void updateRcCommands(void)
     int32_t prop;
     if (rcData[THROTTLE] < currentControlRateProfile->tpa_breakpoint) {
         prop = 100;
+        throttlePIDAttenuation = 1.0f;
     } else {
         if (rcData[THROTTLE] < 2000) {
             prop = 100 - (uint16_t)currentControlRateProfile->dynThrPID * (rcData[THROTTLE] - currentControlRateProfile->tpa_breakpoint) / (2000 - currentControlRateProfile->tpa_breakpoint);
         } else {
             prop = 100 - currentControlRateProfile->dynThrPID;
         }
+        throttlePIDAttenuation = prop / 100.0f;
     }
 
     for (int axis = 0; axis < 3; axis++) {
         // non coupled PID reduction scaler used in PID controller 1 and PID controller 2.
-        PIDweight[axis] = prop;
 
         int32_t tmp = MIN(ABS(rcData[axis] - rxConfig()->midrc), 500);
         if (axis == ROLL || axis == PITCH) {
@@ -679,9 +692,7 @@ void subTaskPidController(void)
     // PID - note this is function pointer set by setPIDController()
     pidController(
         &currentProfile->pidProfile,
-        pidConfig()->max_angle_inclination,
+        &accelerometerConfig()->accelerometerTrims
-        &accelerometerConfig()->accelerometerTrims,
-        rxConfig()->midrc
     );
     if (debugMode == DEBUG_PIDLOOP || debugMode == DEBUG_SCHEDULER) {debug[1] = micros() - startTime;}
 }

src/main/fc/fc_main.h

@@ -34,3 +34,6 @@ void updateLEDs(void);
 void updateRcCommands(void);
 
 void taskMainPidLoop(timeUs_t currentTimeUs);
+float getThrottlePIDAttenuation(void);
+float getSetpointRate(int axis);
+float getRcDeflection(int axis);

src/main/fc/fc_msp.c

@@ -1164,8 +1164,8 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
         sbufWriteU8(dst, 0); // reserved
         sbufWriteU8(dst, 0); // reserved
         sbufWriteU8(dst, 0); // reserved
-        sbufWriteU16(dst, currentProfile->pidProfile.rateAccelLimit);
+        sbufWriteU16(dst, currentProfile->pidProfile.rateAccelLimit * 10);
-        sbufWriteU16(dst, currentProfile->pidProfile.yawRateAccelLimit);
+        sbufWriteU16(dst, currentProfile->pidProfile.yawRateAccelLimit * 10);
         break;
 
     case MSP_SENSOR_CONFIG:
@@ -1512,8 +1512,8 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         sbufReadU8(src); // reserved
         sbufReadU8(src); // reserved
         sbufReadU8(src); // reserved
-        currentProfile->pidProfile.rateAccelLimit = sbufReadU16(src);
+        currentProfile->pidProfile.rateAccelLimit = sbufReadU16(src) / 10.0f;
-        currentProfile->pidProfile.yawRateAccelLimit = sbufReadU16(src);
+        currentProfile->pidProfile.yawRateAccelLimit = sbufReadU16(src) / 10.0f;
         pidInitConfig(&currentProfile->pidProfile);
         break;
 

src/main/flight/pid.c

@@ -28,6 +28,7 @@
 #include "common/maths.h"
 #include "common/filter.h"
 
+#include "fc/fc_main.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
@@ -38,17 +39,11 @@
 #include "sensors/gyro.h"
 #include "sensors/acceleration.h"
 
-extern float rcInput[3];
-extern float setpointRate[3];
-
 uint32_t targetPidLooptime;
 static bool pidStabilisationEnabled;
 
 float axisPIDf[3];
 
-// PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
-uint8_t PIDweight[3];
-
 #ifdef BLACKBOX
 int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
 #endif
@@ -145,8 +140,7 @@ void pidInitFilters(const pidProfile_t *pidProfile)
     }
 }
 
-static float Kp[3], Ki[3], Kd[3], c[3];
+static float Kp[3], Ki[3], Kd[3], c[3], levelGain, horizonGain, horizonTransition, maxVelocity[3], relaxFactor[3];
-static float rollPitchMaxVelocity, yawMaxVelocity, relaxFactor[3];
 
 void pidInitConfig(const pidProfile_t *pidProfile) {
     for(int axis = FD_ROLL; axis <= FD_YAW; axis++) {
@@ -156,70 +150,85 @@ void pidInitConfig(const pidProfile_t *pidProfile) {
         c[axis] = pidProfile->dtermSetpointWeight / 100.0f;
         relaxFactor[axis] = 1.0f - (pidProfile->setpointRelaxRatio / 100.0f);
     }
-    yawMaxVelocity = pidProfile->yawRateAccelLimit * 1000 * dT;
+    levelGain = pidProfile->P8[PIDLEVEL] / 10.0f;
-    rollPitchMaxVelocity = pidProfile->rateAccelLimit * 1000 * dT;
+    horizonGain = pidProfile->I8[PIDLEVEL] / 10.0f;
+    horizonTransition = 100.0f / pidProfile->D8[PIDLEVEL];
+    maxVelocity[FD_ROLL] = maxVelocity[FD_PITCH] = pidProfile->rateAccelLimit * 1000 * dT;
+    maxVelocity[FD_YAW] = pidProfile->yawRateAccelLimit * 1000 * dT;
 }
 
-// Betaflight pid controller, which will be maintained in the future with additional features specialised for current (mini) multirotor usage.
+float currentPidSetpoint = 0, horizonLevelStrength = 1.0f;
-// Based on 2DOF reference design (matlab)
-void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclination, const rollAndPitchTrims_t *angleTrim, uint16_t midrc)
-{
-    static float previousRateError[2];
-    static float previousSetpoint[3];
 
-    float horizonLevelStrength = 1;
+void calcHorizonLevelStrength(const pidProfile_t *pidProfile) {
-    if (FLIGHT_MODE(HORIZON_MODE)) {
+    const float mostDeflectedPos = MAX(getRcDeflection(FD_ROLL), getRcDeflection(FD_PITCH));
-        // Figure out the raw stick positions
-        const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, midrc));
-        const int32_t stickPosEle = ABS(getRcStickDeflection(FD_PITCH, midrc));
-        const int32_t mostDeflectedPos = MAX(stickPosAil, stickPosEle);
     // Progressively turn off the horizon self level strength as the stick is banged over
-        horizonLevelStrength = (float)(500 - mostDeflectedPos) / 500;  // 1 at centre stick, 0 = max stick deflection
+    horizonLevelStrength = (1.0f - mostDeflectedPos);  // 1 at centre stick, 0 = max stick deflection
     if(pidProfile->D8[PIDLEVEL] == 0){
         horizonLevelStrength = 0;
     } else {
-            horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * (100 / pidProfile->D8[PIDLEVEL])) + 1, 0, 1);
+        horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * horizonTransition) + 1, 0, 1);
-        }
     }
+}
 
-    // ----------PID controller----------
+void pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim) {
-    const float tpaFactor = PIDweight[0] / 100.0f; // tpa is now float
-    for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
-        // Limit abrupt yaw inputs / stops
-        const float maxVelocity = (axis == FD_YAW) ? yawMaxVelocity : rollPitchMaxVelocity;
-        if (maxVelocity) {
-            const float currentVelocity = setpointRate[axis] - previousSetpoint[axis];
-            if (ABS(currentVelocity) > maxVelocity) {
-                setpointRate[axis] = (currentVelocity > 0) ? previousSetpoint[axis] + maxVelocity : previousSetpoint[axis] - maxVelocity;
-            }
-        }
-
-        // Yaw control is GYRO based, direct sticks control is applied to rate PID
-        if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
     // calculate error angle and limit the angle to the max inclination
     float errorAngle = pidProfile->levelSensitivity * rcCommand[axis];
 #ifdef GPS
     errorAngle += GPS_angle[axis];
 #endif
-            errorAngle = constrainf(errorAngle, -max_angle_inclination, max_angle_inclination);
+    errorAngle = constrainf(errorAngle, -pidProfile->max_angle_inclination, pidProfile->max_angle_inclination);
-            errorAngle = (errorAngle - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f;
+    errorAngle = (errorAngle - ((attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f));
-            if (FLIGHT_MODE(ANGLE_MODE)) {
+    if(FLIGHT_MODE(ANGLE_MODE)) {
         // ANGLE mode - control is angle based, so control loop is needed
-                setpointRate[axis] = errorAngle * pidProfile->P8[PIDLEVEL] / 10.0f;
+        currentPidSetpoint = errorAngle * levelGain;
     } else {
         // HORIZON mode - direct sticks control is applied to rate PID
         // mix up angle error to desired AngleRate to add a little auto-level feel
-                setpointRate[axis] = setpointRate[axis] + (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 10.0f);
+        currentPidSetpoint = currentPidSetpoint + (errorAngle * horizonGain * horizonLevelStrength);
     }
+}
+
+void accelerationLimit(int axis) {
+    static float previousSetpoint[3];
+    const float currentVelocity = currentPidSetpoint- previousSetpoint[axis];
+
+    if(ABS(currentVelocity) > maxVelocity[axis])
+        currentPidSetpoint = (currentVelocity > 0) ? previousSetpoint[axis] + maxVelocity[axis] : previousSetpoint[axis] - maxVelocity[axis];
+
+    previousSetpoint[axis] = currentPidSetpoint;
+}
+
+// Betaflight pid controller, which will be maintained in the future with additional features specialised for current (mini) multirotor usage.
+// Based on 2DOF reference design (matlab)
+void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim)
+{
+    static float previousRateError[2];
+    static float previousSetpoint[3];
+
+    if(FLIGHT_MODE(HORIZON_MODE))
+        calcHorizonLevelStrength(pidProfile);
+
+    // ----------PID controller----------
+    const float tpaFactor = getThrottlePIDAttenuation();
+
+    for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
+        currentPidSetpoint = getSetpointRate(axis);
+
+        if(maxVelocity[axis])
+            accelerationLimit(axis);
+
+        // Yaw control is GYRO based, direct sticks control is applied to rate PID
+        if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
+            pidLevel(axis, pidProfile, angleTrim);
         }
 
-        const float PVRate = gyro.gyroADCf[axis]; // Process variable from gyro output in deg/sec
+        const float gyroRate = gyro.gyroADCf[axis]; // Process variable from gyro output in deg/sec
 
         // --------low-level gyro-based PID based on 2DOF PID controller. ----------
         //  ---------- 2-DOF PID controller with optional filter on derivative term. b = 1 and only c can be tuned (amount derivative on measurement or error).  ----------
 
         // -----calculate error rate
-        const float errorRate = setpointRate[axis] - PVRate;       // r - y
+        const float errorRate = currentPidSetpoint - gyroRate;       // r - y
 
         // -----calculate P component and add Dynamic Part based on stick input
         float PTerm = Kp[axis] * errorRate * tpaFactor;
@@ -227,7 +236,7 @@ void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
         // -----calculate I component
         // Reduce strong Iterm accumulation during higher stick inputs
         const float accumulationThreshold = (axis == FD_YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
-        const float setpointRateScaler = constrainf(1.0f - (ABS(setpointRate[axis]) / accumulationThreshold), 0.0f, 1.0f);
+        const float setpointRateScaler = constrainf(1.0f - (ABS(currentPidSetpoint) / accumulationThreshold), 0.0f, 1.0f);
 
         float ITerm = previousGyroIf[axis];
         ITerm += Ki[axis] * errorRate * dT * setpointRateScaler;
@@ -240,16 +249,17 @@ void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
         if (axis != FD_YAW) {
             float dynC = c[axis];
             if (pidProfile->setpointRelaxRatio < 100) {
+                const float rcDeflection = getRcDeflection(axis);
                 dynC = c[axis];
-                if (setpointRate[axis] > 0) {
+                if (currentPidSetpoint > 0) {
-                    if ((setpointRate[axis] - previousSetpoint[axis]) < previousSetpoint[axis])
+                    if ((currentPidSetpoint - previousSetpoint[axis]) < previousSetpoint[axis])
-                        dynC = dynC * sq(rcInput[axis]) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
+                        dynC = dynC * sq(rcDeflection) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
-                } else if (setpointRate[axis] < 0) {
+                } else if (currentPidSetpoint < 0) {
-                    if ((setpointRate[axis] - previousSetpoint[axis]) > previousSetpoint[axis])
+                    if ((currentPidSetpoint - previousSetpoint[axis]) > previousSetpoint[axis])
-                        dynC = dynC * sq(rcInput[axis]) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
+                        dynC = dynC * sq(rcDeflection) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
                 }
             }
-            const float rD = dynC * setpointRate[axis] - PVRate;    // cr - y
+            const float rD = dynC * currentPidSetpoint - gyroRate;    // cr - y
             // Divide rate change by dT to get differential (ie dr/dt)
             const float delta = (rD - previousRateError[axis]) / dT;
             previousRateError[axis] = rD;
@@ -264,7 +274,7 @@ void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
         } else {
             PTerm = ptermYawFilterApplyFn(ptermYawFilter, PTerm);
         }
-        previousSetpoint[axis] = setpointRate[axis];
+        previousSetpoint[axis] = currentPidSetpoint;
 
         // -----calculate total PID output
         axisPIDf[axis] = PTerm + ITerm + DTerm;

src/main/flight/pid.h

@@ -72,23 +72,23 @@ typedef struct pidProfile_s {
     uint8_t dterm_average_count;            // Configurable delta count for dterm
     uint8_t vbatPidCompensation;            // Scale PIDsum to battery voltage
     uint8_t pidAtMinThrottle;               // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.
+    float max_angle_inclination;
 
     // Betaflight PID controller parameters
     uint16_t itermThrottleThreshold;        // max allowed throttle delta before errorGyroReset in ms
     uint8_t setpointRelaxRatio;             // Setpoint weight relaxation effect
     uint8_t dtermSetpointWeight;            // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > agressive derivative)
-    uint16_t yawRateAccelLimit;             // yaw accel limiter for deg/sec/ms
+    float yawRateAccelLimit;                // yaw accel limiter for deg/sec/ms
-    uint16_t rateAccelLimit;                // accel limiter roll/pitch deg/sec/ms
+    float rateAccelLimit;                   // accel limiter roll/pitch deg/sec/ms
     float levelSensitivity;
 } pidProfile_t;
 
 typedef struct pidConfig_s {
     uint8_t pid_process_denom;              // Processing denominator for PID controller vs gyro sampling rate
-    uint16_t max_angle_inclination;
 } pidConfig_t;
 
 union rollAndPitchTrims_u;
-void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclination, const union rollAndPitchTrims_u *angleTrim, uint16_t midrc);
+void pidController(const pidProfile_t *pidProfile, const union rollAndPitchTrims_u *angleTrim);
 
 extern float axisPIDf[3];
 extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];

src/main/io/serial_cli.c

@@ -835,7 +835,7 @@ const clivalue_t valueTable[] = {
     { "yaw_motor_direction",        VAR_INT8   | MASTER_VALUE, &mixerConfig()->yaw_motor_direction, .config.minmax = { -1,  1 } },
     { "yaw_p_limit",                VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
     { "pidsum_limit",               VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidSumLimit, .config.minmax = { 0.1, 1.0 } },
-    { "max_angle_inclination",      VAR_UINT16 | MASTER_VALUE,  &pidConfig()->max_angle_inclination, .config.minmax = { 100,  900 } },
+    { "max_angle_inclination",      VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.max_angle_inclination, .config.minmax = { 10.0f,  120.0f } },
 #ifdef USE_SERVOS
     { "servo_center_pulse",         VAR_UINT16 | MASTER_VALUE,  &servoConfig()->servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
     { "tri_unarmed_servo",          VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, &servoMixerConfig()->tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },
@@ -894,11 +894,11 @@ const clivalue_t valueTable[] = {
     { "dterm_notch_cutoff",         VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_cutoff, .config.minmax = { 1,  500 } },
     { "vbat_pid_compensation",      VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.vbatPidCompensation, .config.lookup = { TABLE_OFF_ON } },
     { "pid_at_min_throttle",        VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidAtMinThrottle, .config.lookup = { TABLE_OFF_ON } },
-    { "iterm_throttle_reset",       VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleThreshold, .config.minmax = {20, 1000 } },
+    { "anti_gravity_threshold",     VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleThreshold, .config.minmax = {20, 1000 } },
     { "setpoint_relax_ratio",       VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.setpointRelaxRatio, .config.minmax = {0, 100 } },
     { "dterm_setpoint_weight",      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 255 } },
-    { "yaw_rate_accel_limit",       VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0, 1000 } },
+    { "yaw_accel_limit",            VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0.1f, 50.0f } },
-    { "rate_accel_limit",           VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0, 1000 } },
+    { "accel_limit",                VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0.1f, 50.0f } },
 
     { "accum_threshold",            VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
     { "yaw_accum_threshold",        VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } },