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Plane: Log D gain limit cycle gain scaler 

Used by roll and pitch loops in APM_Control
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Paul Riseborough 2020-05-10 17:16:43 +10:00 committed by Andrew Tridgell
parent 0cf70fe961
commit 585a6a6967
1 changed files with 2 additions and 0 deletions
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2
ArduPlane/Log.cpp
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@ -386,6 +386,7 @@ const struct LogStructure Plane::log_structure[] = {
// @Field: I: integral part of PID
// @Field: D: derivative part of PID
// @Field: FF: controller feed-forward portion of response
// @Field: Dmod: scaler applied to D gain to reduce limit cycling
{ LOG_PIQR_MSG, sizeof(log_PID),
"PIQR", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS },
{ LOG_PIQP_MSG, sizeof(log_PID),
@ -405,6 +406,7 @@ const struct LogStructure Plane::log_structure[] = {
// @Field: I: integral part of PID
// @Field: D: derivative part of PID
// @Field: FF: controller feed-forward portion of response
// @Field: Dmod: scaler applied to D gain to reduce limit cycling
{ LOG_PIDG_MSG, sizeof(log_PID),
"PIDG", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS },