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Use radians macro, minor change

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This commit is contained in:
Oleg Kalachev
2024-01-12 00:43:52 +03:00
parent 1ed05a94dd
commit f4aaf0f4f3
4 changed files with 9 additions and 7 deletions
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8
flix/control.ino
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@@ -27,10 +27,10 @@
#define PITCH_I ROLL_I
#define PITCH_D ROLL_D
#define YAW_P 3
#define PITCHRATE_MAX 360 * DEG_TO_RAD
#define ROLLRATE_MAX 360 * DEG_TO_RAD
#define YAWRATE_MAX 360 * DEG_TO_RAD
#define MAX_TILT 30 * DEG_TO_RAD
#define PITCHRATE_MAX radians(360)
#define ROLLRATE_MAX radians(360)
#define YAWRATE_MAX radians(360)
#define MAX_TILT radians(30)
#define RATES_LFP_ALPHA 0.8 // cutoff frequency ~ 250 Hz
#define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz