PID1 Horizon sensitivity range increased
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@ -678,14 +678,9 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
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// Progressively turn off the horizon self level strength as the stick is banged over
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// Progressively turn off the horizon self level strength as the stick is banged over
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horizonLevelStrength = (500 - mostDeflectedPos) / 5; // 100 at centre stick, 0 = max stick deflection
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horizonLevelStrength = (500 - mostDeflectedPos) / 5; // 100 at centre stick, 0 = max stick deflection
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// PID D Level Term is used for Horizon Sensitivity. It is adjusted so the default value of 100 works pretty well.
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// Using Level D as a Sensitivity for Horizon. 0 more level to 255 more rate. Default value of 100 seems to work fine.
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// Default Level D term of 100 equals to 80% sensitivity and 125 and above is 100% sensitivity. It is scaled to prevent too much truncating n integers
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// For more rate mode increase D and slower flips and rolls will be possible
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horizonLevelStrength = constrain((10 * (horizonLevelStrength - 100) * (10 * pidProfile->D8[PIDLEVEL] / 80) / 100) + 100, 0, 100);
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if (pidProfile->D8[PIDLEVEL] >= 125){
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horizonLevelStrength = constrain((horizonLevelStrength - 100) + 100, 0, 100);
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} else {
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horizonLevelStrength = constrain((10 * (horizonLevelStrength - 100) * (10 * pidProfile->D8[PIDLEVEL] / 125) / 100) + 100, 0, 100);
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}
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}
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}
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// ----------PID controller----------
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// ----------PID controller----------
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