@betaflight/api/dist/cjs/pid/types.d.ts

A high-level API to read data from betaflight flight controllers

export declare enum FilterTypes {
    PT1 = 0,
    BIQUAD = 1
}
export declare type LowpassFilter = {
    hz: number;
    type: FilterTypes;
};
export declare type NotchFilter = {
    hz: number;
    cutoff: number;
};
export declare type DynamicFilterValues = {
    minHz: number;
    maxHz: number;
};
export declare type FilterConfig = {
    gyro: {
        hardwareLpf: number;
        hardwareLpf32khz: number;
        lowpass: LowpassFilter & {
            dyn: {
                minHz: number;
                maxHz: number;
            };
        };
        lowpass2: {
            hz: number;
            type: number;
        };
        notch: NotchFilter;
        notch2: NotchFilter;
        rpmNotch: {
            harmonics: number;
            minHz: number;
        };
    };
    dterm: {
        lowpass: LowpassFilter & {
            dyn: DynamicFilterValues;
        };
        lowpass2: LowpassFilter;
        notch: NotchFilter;
    };
    dyn: {
        lpfCurveExpo: number;
        notch: {
            range: number;
            widthPrecent: number;
            q: number;
            minHz: number;
            maxHz: number;
        };
    };
    yaw: {
        lowpass: {
            hz: number;
        };
    };
};
export declare enum AntiGravityModes {
    SMOOTH = 0,
    STEP = 1
}
export declare type AdvancedPidConfig = {
    rollPitchItermIgnoreRate: number;
    yaw: {
        itermIgnoreRate: number;
        pLimit: number;
    };
    deltaMethod: number;
    vbatPidCompensation: number;
    dtermSetpoint: {
        transition: number;
        weight: number;
    };
    toleranceBand: number;
    toleranceBandReduction: number;
    pid: {
        maxVelocity: number;
        maxVelocityYaw: number;
    };
    dMin: {
        roll: number;
        pitch: number;
        yaw: number;
        gain: number;
        advance: number;
    };
    levelAngleLimit: number;
    levelSensitivity: number;
    iterm: {
        throttleGain: number;
        throttleThreshold: number;
        acceleratorGain: number;
        rotation: number;
        relax: number;
        relaxType: number;
        relaxCutoff: number;
    };
    smartFeedForward: number;
    absoluteControlGain: number;
    throttleBoost: number;
    acroTrainerAngleLimit: number;
    antiGravityMode: AntiGravityModes;
    useIntegratedYaw: boolean;
    integratedYawRelax: number;
    motorOutputLimit: number;
    autoProfileCellCount: number;
    idleMinRpm: number;
    feedForward: {
        roll: number;
        pitch: number;
        yaw: number;
        transition: number;
        interpolateSp: number;
        smoothFactor: number;
        boost: number;
    };
    vbatSagCompensation: number;
    thrustLinearization: number;
};
declare type Pid = {
    p: number;
    i: number;
    d: number;
};
export declare type PidConfig = {
    roll: Pid;
    pitch: Pid;
    yaw: Pid;
    level: Pid;
    mag: Pid;
};
export {};