From 03b5c3c872252868560384d53f8bd8f0ac8f0abb Mon Sep 17 00:00:00 2001 From: Thorsten Laux Date: Sun, 27 May 2018 08:04:27 +0200 Subject: [PATCH] add description --- src/main/flight/pid.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h index 21d84edc7..81705db06 100644 --- a/src/main/flight/pid.h +++ b/src/main/flight/pid.h @@ -114,8 +114,8 @@ typedef struct pidProfile_s { uint16_t dterm_lowpass2_hz; // Extra PT1 Filter on D in hz uint8_t throttle_boost; // how much should throttle be boosted during transient changes 0-100, 100 adds 10x hpf filtered throttle uint8_t throttle_boost_cutoff; // Which cutoff frequency to use for throttle boost. higher cutoffs keep the boost on for shorter. Specified in hz. - uint8_t iterm_rotation; // rotates iterm to translate world errors to local coordinate system - uint8_t smart_feedforward; + uint8_t iterm_rotation; // rotates iterm to translate world errors to local coordinate system + uint8_t smart_feedforward; // takes only the larger of P and the D weight feed forward term if they have the same sign. } pidProfile_t; #ifndef USE_OSD_SLAVE -- 2.11.4.GIT