Further changes

rotorflight · Sep 3, 2024 · 2786f90 · 2786f90
1 parent d8a21ff
commit 2786f90
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Showing 2 changed files with 6 additions and 8 deletions.
diff --git a/src/main/pg/mixer.c b/src/main/pg/mixer.c
@@ -47,13 +47,11 @@ PG_REGISTER_ARRAY_WITH_RESET_FN(mixerInput_t, MIXER_INPUT_COUNT, mixerInputs, PG
 void pgResetFn_mixerInputs(mixerInput_t *input)
 {
     for (int i = MIXER_IN_STABILIZED_ROLL; i <= MIXER_IN_STABILIZED_COLLECTIVE; i++) {
-        input[i].rate =  500;
+        input[i].rate =  250;
         input[i].min  = -1250;
         input[i].max  =  1250;
     }
 
-    input[MIXER_IN_STABILIZED_YAW].rate =  250;
-
     input[MIXER_IN_STABILIZED_THROTTLE].rate =  1000;
     input[MIXER_IN_STABILIZED_THROTTLE].min  =  0;
     input[MIXER_IN_STABILIZED_THROTTLE].max  =  1000;

diff --git a/src/main/pg/pid.c b/src/main/pg/pid.c
@@ -45,9 +45,9 @@ void resetPidProfile(pidProfile_t *pidProfile)
     RESET_CONFIG(pidProfile_t, pidProfile,
         .profileName = "",
         .pid = {
-            [PID_ROLL]  = { .P = 50, .I = 120, .D = 30, .F = 100, .B = 0, .O = 40, },
-            [PID_PITCH] = { .P = 50, .I = 120, .D = 50, .F = 100, .B = 0, .O = 40, },
-            [PID_YAW]   = { .P = 60, .I = 100, .D = 20, .F =   0, .B = 0, .O =  0, },
+            [PID_ROLL]  = { .P = 50, .I = 120, .D = 20, .F = 100, .B = 0, .O = 40, },
+            [PID_PITCH] = { .P = 50, .I = 120, .D = 20, .F = 100, .B = 0, .O = 40, },
+            [PID_YAW]   = { .P = 50, .I =  80, .D = 20, .F =   0, .B = 0, .O =  0, },
         },
         .pid_mode = 3,
         .dterm_mode = 0,
@@ -75,8 +75,8 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .bterm_cutoff = { 15, 15, 20 },
         .gyro_cutoff = { 50, 50, 100 },
         .gyro_filter_type = LPF_1ST_ORDER,
-        .yaw_cw_stop_gain = 80,
-        .yaw_ccw_stop_gain = 120,
+        .yaw_cw_stop_gain = 120,
+        .yaw_ccw_stop_gain = 80,
         .yaw_precomp_cutoff = 5,
         .yaw_precomp_filter_type = LPF_1ST_ORDER,
         .yaw_cyclic_ff_gain = 0,