From d74d107ec4ee0a3da84bf52a3fe41a351c1e6664 Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Mon, 31 Jul 2023 11:00:19 +0930 Subject: [PATCH] Blimp: Support PD Max --- Blimp/Blimp.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Blimp/Blimp.h b/Blimp/Blimp.h index 0c6e7a2627e37e..13f5e7086ff546 100644 --- a/Blimp/Blimp.h +++ b/Blimp/Blimp.h @@ -232,7 +232,7 @@ class Blimp : public AP_Vehicle AC_PID_2D pid_pos_xy{1, 0.05, 0, 0, 0.1, 3, 3}; AC_PID_Basic pid_pos_z{0.7, 0, 0, 0, 0, 3, 3}; - AC_PID pid_pos_yaw{1.2, 0.5, 0, 0, 2, 3, 3, 3}; //p, i, d, ff, imax, filt_t, filt_e, filt_d, dt, opt srmax, opt srtau + AC_PID pid_pos_yaw{1.2, 0.5, 0, 0, 0, 2, 3, 3, 3}; //p, i, d, ff, imax, pdmax, filt_t, filt_e, filt_d, dt, opt srmax, opt srtau // System Timers // --------------