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. set iterm_relax_cutoff_yaw is the setting for Yaw.

Additionally, iterm_windup value is now reversed. So the default value of 70, means windup accumulation will stop at 70% motor saturation.

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