Merge pull request #4482 from iNavFlight/dzikuvx-untangle-fw-d-ff-logic

Move FW PID FF component to dedicated config structure
iNavFlight · Mar 9, 2019 · ad0d14e · ad0d14e
2 parents 2f226f8 + 9d7b27c
commit ad0d14e
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Showing 2 changed files with 7 additions and 7 deletions.
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
@@ -906,7 +906,7 @@ groups:
         min: 0
         max: 200
       - name: fw_ff_pitch
-        field: bank_fw.pid[PID_PITCH].D
+        field: bank_fw.pid[PID_PITCH].FF
         min: 0
         max: 200
       - name: fw_p_roll
@@ -918,7 +918,7 @@ groups:
         min: 0
         max: 200
       - name: fw_ff_roll
-        field: bank_fw.pid[PID_ROLL].D
+        field: bank_fw.pid[PID_ROLL].FF
         min: 0
         max: 200
       - name: fw_p_yaw
@@ -930,7 +930,7 @@ groups:
         min: 0
         max: 200
       - name: fw_ff_yaw
-        field: bank_fw.pid[PID_YAW].D
+        field: bank_fw.pid[PID_YAW].FF
         min: 0
         max: 200
       - name: fw_p_level

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
@@ -153,9 +153,9 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
 
         .bank_fw = {
             .pid = {
-                [PID_ROLL] =    { 5, 7, 50, 0 },
-                [PID_PITCH] =   { 5, 7, 50, 0 },
-                [PID_YAW] =     { 6, 10, 60, 0 },
+                [PID_ROLL] =    { 5, 7, 0, 50 },
+                [PID_PITCH] =   { 5, 7, 0, 50 },
+                [PID_YAW] =     { 6, 10, 0, 60 },
                 [PID_LEVEL] = {
                     .P = 20,    // Self-level strength
                     .I = 5,     // Self-leveing low-pass frequency (0 - disabled)
@@ -386,7 +386,7 @@ void FAST_CODE NOINLINE updatePIDCoefficients(void)
             pidState[axis].kP  = pidBank()->pid[axis].P / FP_PID_RATE_P_MULTIPLIER  * tpaFactor;
             pidState[axis].kI  = pidBank()->pid[axis].I / FP_PID_RATE_I_MULTIPLIER  * tpaFactor;
             pidState[axis].kD  = 0.0f;
-            pidState[axis].kFF = pidBank()->pid[axis].D / FP_PID_RATE_FF_MULTIPLIER * tpaFactor;
+            pidState[axis].kFF = pidBank()->pid[axis].FF / FP_PID_RATE_FF_MULTIPLIER * tpaFactor;
             pidState[axis].kT  = 0.0f;
         }
         else {