From 38abced6a96ae37d9b426faf925d70987ef083b4 Mon Sep 17 00:00:00 2001 From: borisbstyle Date: Tue, 24 Jan 2017 22:33:18 +0100 Subject: [PATCH] Fix truncated blackbox logging by restoring PID scale --- src/main/fc/config.c | 4 ++-- src/main/flight/pid.h | 10 +++++----- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/src/main/fc/config.c b/src/main/fc/config.c index 7d5b67185..22b28d1f6 100755 --- a/src/main/fc/config.c +++ b/src/main/fc/config.c @@ -137,10 +137,10 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) static void resetPidProfile(pidProfile_t *pidProfile) { - pidProfile->P8[ROLL] = 40; + pidProfile->P8[ROLL] = 44; pidProfile->I8[ROLL] = 40; pidProfile->D8[ROLL] = 20; - pidProfile->P8[PITCH] = 55; + pidProfile->P8[PITCH] = 58; pidProfile->I8[PITCH] = 50; pidProfile->D8[PITCH] = 22; pidProfile->P8[YAW] = 70; diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h index 3054afdaf..435cc7f9a 100644 --- a/src/main/flight/pid.h +++ b/src/main/flight/pid.h @@ -20,16 +20,16 @@ #include #define PID_CONTROLLER_BETAFLIGHT 1 -#define PID_MIXER_SCALING 100.0f -#define PID_SERVO_MIXER_SCALING 7.0f +#define PID_MIXER_SCALING 1000.0f +#define PID_SERVO_MIXER_SCALING 0.7f #define YAW_P_LIMIT_MIN 100 // Maximum value for yaw P limiter #define YAW_P_LIMIT_MAX 500 // Maximum value for yaw P limiter #define PIDSUM_LIMIT 0.5f // Scaling factors for Pids for better tunable range in configurator for betaflight pid controller. The scaling is based on legacy pid controller or previous float -#define PTERM_SCALE 0.003558774f -#define ITERM_SCALE 0.027153417f -#define DTERM_SCALE 0.000058778f +#define PTERM_SCALE 0.032029f +#define ITERM_SCALE 0.244381f +#define DTERM_SCALE 0.000529f typedef enum { PIDROLL, -- 2.11.4.GIT