From a0237e6cde3b3efea87ff7961acf5ee4b14b14bb Mon Sep 17 00:00:00 2001 From: ctzsnooze Date: Fri, 1 Mar 2019 18:41:56 +1100 Subject: [PATCH] Defaults set, Annotations Default threshold 40 deg/sec Anotations provided to explain - cutoff independence factor when calculating itermRelaxSetpointThreshold - meaning of ITERM_RELAX_SETPOINT_THRESHOLD --- src/main/flight/pid.c | 1 + src/main/flight/pid.h | 4 ++-- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index cc1742b8a..015788ce8 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -621,6 +621,7 @@ void pidInitConfig(const pidProfile_t *pidProfile) itermRelax = pidProfile->iterm_relax; itermRelaxType = pidProfile->iterm_relax_type; itermRelaxCutoff = pidProfile->iterm_relax_cutoff; + // 20.0f below is current default itermRelaxCutoff value, to adapt setpoint to change from cutoff itermRelaxSetpointThreshold = ITERM_RELAX_SETPOINT_THRESHOLD * 20.0f / itermRelaxCutoff; #endif diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h index 57475e17e..42d8fcf46 100644 --- a/src/main/flight/pid.h +++ b/src/main/flight/pid.h @@ -44,8 +44,8 @@ // This value gives the same "feel" as the previous Kd default of 26 (26 * DTERM_SCALE) #define FEEDFORWARD_SCALE 0.013754f -// Full iterm suppression at 40deg/sec * default cutoff of 20 -#define ITERM_RELAX_SETPOINT_THRESHOLD 30.0f +// Full iterm suppression in setpoint mode at high-passed setpoint rate > 40deg/sec +#define ITERM_RELAX_SETPOINT_THRESHOLD 40.0f typedef enum { PID_ROLL, -- 2.11.4.GIT