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Scale down dtermSetpointWeight

This commit is contained in:
borisbstyle 2017-02-16 01:44:27 +01:00
parent f2bb5374e7
commit ff1f9ce770
3 changed files with 4 additions and 4 deletions
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2
src/main/fc/cli.c
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@ -707,7 +707,7 @@ const clivalue_t valueTable[] = {
{ "anti_gravity_thresh", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleThreshold, .config.minmax = {20, 1000 } },
{ "anti_gravity_gain", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermAcceleratorGain, .config.minmax = {1, 30 } },
{ "setpoint_relax_ratio", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.setpointRelaxRatio, .config.minmax = {0, 100 } },
{ "d_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 255 } },
{ "d_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 254 } },
{ "yaw_accel_limit", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0.1f, 50.0f } },
{ "accel_limit", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0.1f, 50.0f } },

4
src/main/fc/config.c
View File

@ -174,8 +174,8 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
pidProfile->levelAngleLimit = 55;
pidProfile->levelSensitivity = 55;
pidProfile->setpointRelaxRatio = 20;
pidProfile->dtermSetpointWeight = 190;
pidProfile->setpointRelaxRatio = 25;
pidProfile->dtermSetpointWeight = 100;
pidProfile->yawRateAccelLimit = 10.0f;
pidProfile->rateAccelLimit = 0.0f;
pidProfile->itermThrottleThreshold = 350;

2
src/main/flight/pid.c
View File

@ -160,7 +160,7 @@ void pidInitConfig(const pidProfile_t *pidProfile) {
Ki[axis] = ITERM_SCALE * pidProfile->I8[axis];
Kd[axis] = DTERM_SCALE * pidProfile->D8[axis];
}
dtermSetpointWeight = pidProfile->dtermSetpointWeight / 100.0f;
dtermSetpointWeight = pidProfile->dtermSetpointWeight / 127.0f;
relaxFactor = 1.0f / (pidProfile->setpointRelaxRatio / 100.0f);
levelGain = pidProfile->P8[PIDLEVEL] / 10.0f;
horizonGain = pidProfile->I8[PIDLEVEL] / 10.0f;