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Increase default amount of I for 4.0

This commit is contained in:
ctzsnooze 2018-10-30 12:14:15 +11:00
parent 0e7a4d6e11
commit de8df24857
1 changed files with 5 additions and 5 deletions
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10
src/main/flight/pid.c
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@ -115,8 +115,8 @@ void resetPidProfile(pidProfile_t *pidProfile)
{
RESET_CONFIG(pidProfile_t, pidProfile,
.pid = {
[PID_ROLL] = { 46, 45, 25, 60 },
[PID_PITCH] = { 50, 50, 27, 60 },
[PID_ROLL] = { 46, 65, 25, 60 },
[PID_PITCH] = { 50, 75, 27, 60 },
[PID_YAW] = { 45, 100, 0, 100 },
[PID_LEVEL] = { 50, 50, 75, 0 },
[PID_MAG] = { 40, 0, 0, 0 },
@ -126,7 +126,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.yaw_lowpass_hz = 0,
.dterm_notch_hz = 0,
.dterm_notch_cutoff = 0,
.itermWindupPointPercent = 40,
.itermWindupPointPercent = 100,
.vbatPidCompensation = 0,
.pidAtMinThrottle = PID_STABILISATION_ON,
.levelAngleLimit = 55,
@ -146,13 +146,13 @@ void resetPidProfile(pidProfile_t *pidProfile)
.horizon_tilt_effect = 75,
.horizon_tilt_expert_mode = false,
.crash_limit_yaw = 200,
.itermLimit = 300,
.itermLimit = 400,
.throttle_boost = 5,
.throttle_boost_cutoff = 15,
.iterm_rotation = true,
.smart_feedforward = false,
.iterm_relax = ITERM_RELAX_RP,
.iterm_relax_cutoff = 11,
.iterm_relax_cutoff = 20,
.iterm_relax_type = ITERM_RELAX_SETPOINT,
.acro_trainer_angle_limit = 20,
.acro_trainer_lookahead_ms = 50,