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Code Issues Wiki Activity

Finalize Blackbox yaw output for Harakiri PID controller

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Minor code updates and cleanup
Documentation update
This commit is contained in:
Michael Jakob 2015-01-27 14:13:04 +01:00
parent db8d539cbb
commit 124ae1f590
2 changed files with 15 additions and 26 deletions
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docs/PID tuning.md
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@ -126,14 +126,14 @@ For the ALIENWII32 targets the gyroscale is removed for more yaw authority. This
PID Controller 5 is an port of the PID controller from the Harakiri firmware.
The algorithm is leveraging more floating point math. This PID controller is also compensates for different looptimes on roll and pitch. It likely don’t need retuning of the PID values. Actually there are two settings hardcoded which are configurable via the GUI in Harakiri:
The algorithm is leveraging more floating point math. This PID controller also compensates for different looptimes on roll and pitch. It likely don’t need retuning of the PID values when looptime is changing. Actually there are two settings hardcoded which are configurable via the GUI in Harakiri:
OLD_YAW 0 // [0/1] 0 = multiwii 2.3 yaw, 1 = older yaw.
MAIN_CUT_HZ 12.0f // (default 12Hz, Range 1-50Hz)
The PID controller is flight tested and running well with the default PID settings. If you want do acrobatics start slowly.
Yaw authority is also quite good. Only the P value is used in the yaw algorithm.
Yaw authority is also quite good.