From e3df0269fcbb7250513edf88a64c4f791eed4131 Mon Sep 17 00:00:00 2001 From: Bruce Luckcuck Date: Sat, 30 Mar 2019 22:59:26 -0400 Subject: [PATCH 1/2] Change absolute control default to disabled and reenable iterm_rotation --- src/main/flight/pid.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index 522a932c7..b6d64f8e9 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -167,7 +167,7 @@ void resetPidProfile(pidProfile_t *pidProfile) .itermLimit = 400, .throttle_boost = 5, .throttle_boost_cutoff = 15, - .iterm_rotation = false, + .iterm_rotation = true, .smart_feedforward = false, .iterm_relax = ITERM_RELAX_RP, .iterm_relax_cutoff = ITERM_RELAX_CUTOFF_DEFAULT, @@ -176,7 +176,7 @@ void resetPidProfile(pidProfile_t *pidProfile) .acro_trainer_lookahead_ms = 50, .acro_trainer_debug_axis = FD_ROLL, .acro_trainer_gain = 75, - .abs_control_gain = 10, + .abs_control_gain = 0, .abs_control_limit = 90, .abs_control_error_limit = 20, .abs_control_cutoff = 11, From 33902a216960daed93058d8c436dc9572eee8fed Mon Sep 17 00:00:00 2001 From: mikeller Date: Mon, 1 Apr 2019 22:53:43 +1300 Subject: [PATCH 2/2] Disabled 'iterm_rotation' according to agreement. --- src/main/flight/pid.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index b6d64f8e9..55fb1405d 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -167,7 +167,7 @@ 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,