iTerm Relax

EmuFlight 0.3.2+ implements a simplified iTerm relax which is based only on setpoint and the _INC mode.

iterm_relax_cutoff is the setting for both Roll and Pitch (RP). set iterm_relax_cutoff_yaw is the setting for Yaw (Y).

Additionally, in 0.3.2+, iterm_windup value is now reversed. So the default value of 70, means windup accumulation will stop at 70% motor saturation. In 0.3.1, default was 50 which would still be 50%.

Threshold is available in CLI, but does not typically need modification.

defaults:

set iterm_relax_cutoff = 11
set iterm_relax_cutoff_yaw = 25
set iterm_relax_threshold = 35
set iterm_relax_threshold_yaw = 35
set iterm_windup = 70

iTerm relax off:

set iterm_relax_cutoff = 0
set iterm_relax_cutoff_yaw = 0

for example, RP may be accomplished with:

set iterm_relax_cutoff = 11
set iterm_relax_cutoff_yaw = 0

For more information visit https://github.com/betaflight/betaflight/wiki/I-Term-Relax-Explained