From f545637669dd50c53f74d25c12eec7e2592c1a7f Mon Sep 17 00:00:00 2001
From: ctzsnooze <chris.thompson@sydney.edu.au>
Date: Wed, 12 Sep 2018 11:54:45 +1000
Subject: [PATCH] defaults to improve yaw behaviour, ITermWindupPointInv
 already defined at zero

---
 src/main/flight/pid.c | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index a6bd62e27..93ad5cdd4 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -117,7 +117,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .pid = {
             [PID_ROLL] =  { 46, 45, 25, 60 },
             [PID_PITCH] = { 50, 50, 27, 60 },
-            [PID_YAW] =   { 65, 45, 0 , 60 },
+            [PID_YAW] =   { 45, 100, 0, 100 },
             [PID_LEVEL] = { 50, 50, 75, 0 },
             [PID_MAG] =   { 40, 0, 0, 0 },
         },
@@ -135,7 +135,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .pidAtMinThrottle = PID_STABILISATION_ON,
         .levelAngleLimit = 55,
         .feedForwardTransition = 0,
-        .yawRateAccelLimit = 100,
+        .yawRateAccelLimit = 0,
         .rateAccelLimit = 0,
         .itermThrottleThreshold = 250,
         .itermAcceleratorGain = 5000,
@@ -150,7 +150,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .horizon_tilt_effect = 75,
         .horizon_tilt_expert_mode = false,
         .crash_limit_yaw = 200,
-        .itermLimit = 150,
+        .itermLimit = 300,
         .throttle_boost = 5,
         .throttle_boost_cutoff = 15,
         .iterm_rotation = true,
@@ -443,12 +443,9 @@ void pidInitConfig(const pidProfile_t *pidProfile)
     horizonFactorRatio = (100 - pidProfile->horizon_tilt_effect) * 0.01f;
     maxVelocity[FD_ROLL] = maxVelocity[FD_PITCH] = pidProfile->rateAccelLimit * 100 * dT;
     maxVelocity[FD_YAW] = pidProfile->yawRateAccelLimit * 100 * dT;
-    ITermWindupPointInv = 0.0f;
     if (pidProfile->itermWindupPointPercent < 100) {
         float ITermWindupPoint = (float)pidProfile->itermWindupPointPercent / 100.0f;
         ITermWindupPointInv = 1.0f / (1.0f - ITermWindupPoint);
-    } else {
-        ITermWindupPointInv = 0.0f;
     }
     itermAcceleratorGain = pidProfile->itermAcceleratorGain;
     crashTimeLimitUs = pidProfile->crash_time * 1000;