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new althold PID

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althold should work better now, the PID settings are preliminary. There
is definetly room for improvement.
For aquiring your own PID settings set ALT_P = 0 and tune the VEL pid
until the copter only drifts a little from its position when you
activate althold. Then set ALT_P to a value where it holds the position
stable
This commit is contained in:
Lukas S 2014-01-27 16:10:17 +01:00
parent cae8682c62
commit 073f5116bb
2 changed files with 34 additions and 23 deletions
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16
src/config.c
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@ -230,9 +230,9 @@ static void resetConf(void)
cfg.P8[YAW] = 85;
cfg.I8[YAW] = 45;
cfg.D8[YAW] = 0;
cfg.P8[PIDALT] = 40;
cfg.I8[PIDALT] = 25;
cfg.D8[PIDALT] = 60;
cfg.P8[PIDALT] = 50;
cfg.I8[PIDALT] = 0;
cfg.D8[PIDALT] = 0;
cfg.P8[PIDPOS] = 11; // POSHOLD_P * 100;
cfg.I8[PIDPOS] = 0; // POSHOLD_I * 100;
cfg.D8[PIDPOS] = 0;
@ -246,9 +246,9 @@ static void resetConf(void)
cfg.I8[PIDLEVEL] = 10;
cfg.D8[PIDLEVEL] = 100;
cfg.P8[PIDMAG] = 40;
cfg.P8[PIDVEL] = 0;
cfg.I8[PIDVEL] = 0;
cfg.D8[PIDVEL] = 0;
cfg.P8[PIDVEL] = 120;
cfg.I8[PIDVEL] = 45;
cfg.D8[PIDVEL] = 1;
cfg.rcRate8 = 90;
cfg.rcExpo8 = 65;
cfg.rollPitchRate = 0;
@ -266,8 +266,8 @@ static void resetConf(void)
cfg.accxy_deadband = 40;
cfg.baro_tab_size = 21;
cfg.baro_noise_lpf = 0.6f;
cfg.baro_cf_vel = 0.995f;
cfg.baro_cf_alt = 0.950f;
cfg.baro_cf_vel = 0.985f;
cfg.baro_cf_alt = 0.965f;
cfg.acc_unarmedcal = 1;
// Radio