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Merge pull request #2105 from mikeller/adjust_pid_scaling_for_servos 

Adjusted PID scaling for the servo mixer.
This commit is contained in:
borisbstyle 2017-01-15 01:33:08 +01:00 committed by GitHub
parent f3d2b37959 005731cfe5
commit 77f57f7fc8
2 changed files with 4 additions and 3 deletions
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1
src/main/flight/pid.h
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@ -21,6 +21,7 @@
#define PID_CONTROLLER_BETAFLIGHT 1
#define PID_MIXER_SCALING 100.0f
#define PID_SERVO_MIXER_SCALING 7.0f
#define YAW_P_LIMIT_MIN 100 // Maximum value for yaw P limiter
#define YAW_P_LIMIT_MAX 500 // Maximum value for yaw P limiter
#define PIDSUM_LIMIT 0.5f

6
src/main/flight/servos.c
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@ -341,9 +341,9 @@ STATIC_UNIT_TESTED void servoMixer(void)
input[INPUT_STABILIZED_YAW] = rcCommand[YAW];
} else {
// Assisted modes (gyro only or gyro+acc according to AUX configuration in Gui
input[INPUT_STABILIZED_ROLL] = axisPIDf[ROLL];
input[INPUT_STABILIZED_PITCH] = axisPIDf[PITCH];
input[INPUT_STABILIZED_YAW] = axisPIDf[YAW];
input[INPUT_STABILIZED_ROLL] = axisPIDf[ROLL] * PID_SERVO_MIXER_SCALING;
input[INPUT_STABILIZED_PITCH] = axisPIDf[PITCH] * PID_SERVO_MIXER_SCALING;
input[INPUT_STABILIZED_YAW] = axisPIDf[YAW] * PID_SERVO_MIXER_SCALING;
// Reverse yaw servo when inverted in 3D mode
if (feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig->midrc)) {