rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

PID1 Horizon sensitivity range increased

This commit is contained in:
borisbstyle 2015-05-15 15:28:03 +02:00
parent 4bdc64bff9
commit 984eada98b
1 changed files with 3 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
src/main/flight/pid.c
View File

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