Defaults set, Annotations

Default threshold 40 deg/sec Anotations provided to explain - cutoff independence factor when calculating itermRelaxSetpointThreshold - meaning of ITERM_RELAX_SETPOINT_THRESHOLD
betaflight · Mar 3, 2019 · a0237e6 · a0237e6
1 parent a646c09
commit a0237e6
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git 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
@@ -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,