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tpa on yaw and i-term limit #9408

Merged
merged 2 commits into from
Oct 26, 2023
Merged

tpa on yaw and i-term limit #9408

merged 2 commits into from
Oct 26, 2023

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shota3527
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@shota3527 shota3527 commented Oct 25, 2023 •
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some changes from #9215

  • remove fw_iterm_throw_limit and introduce pid_iterm_limit_percent
  • pid_iterm_limit_percent limit the accumulated iterm by percentage of pidsum_limit or pidsum_limit. This iterm limit is also applied to MR pid controller. The default value is set to 33%, which behaves the same as fw_iterm_throw_limit default 165.
    add option to enable tpa on yaw axis

need to set pid_iterm_limit_percent = 0 in presets to remain same behavior as 6.0

@DzikuVx DzikuVx added this to the 7.0 milestone Oct 26, 2023
@DzikuVx DzikuVx merged commit 88717b6 into iNavFlight:master Oct 26, 2023
@DzikuVx DzikuVx added Release Notes Add this when a PR needs to be mentioned in the release notes and removed Release Notes Add this when a PR needs to be mentioned in the release notes labels Oct 26, 2023
@shota3527 shota3527 mentioned this pull request Oct 31, 2023
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@shota3527 @DzikuVx