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update PID gains, stronger tilt angle correction

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This commit is contained in:
ctzsnooze 2024-10-27 09:46:35 +11:00
parent dc540ce098
commit 43c38b26bd
1 changed files with 7 additions and 7 deletions
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14
src/main/flight/autopilot.c
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@ -39,10 +39,10 @@
#define ALTITUDE_I_SCALE 0.003f #define ALTITUDE_I_SCALE 0.003f
#define ALTITUDE_D_SCALE 0.01f #define ALTITUDE_D_SCALE 0.01f
#define ALTITUDE_F_SCALE 0.01f #define ALTITUDE_F_SCALE 0.01f
#define POSITION_P_SCALE 0.0015f #define POSITION_P_SCALE 0.001f
#define POSITION_I_SCALE 0.0002f #define POSITION_I_SCALE 0.0005f
#define POSITION_D_SCALE 0.004f #define POSITION_D_SCALE 0.002f
#define POSITION_A_SCALE 0.0008f #define POSITION_A_SCALE 0.002f
static pidCoefficient_t altitudePidCoeffs; static pidCoefficient_t altitudePidCoeffs;
static pidCoefficient_t positionPidCoeffs; static pidCoefficient_t positionPidCoeffs;
@ -130,9 +130,9 @@ void altitudeControl(float targetAltitudeCm, float taskIntervalS, float vertical
const float hoverOffset = autopilotConfig()->hover_throttle - PWM_RANGE_MIN; const float hoverOffset = autopilotConfig()->hover_throttle - PWM_RANGE_MIN;
float throttleOffset = altitudeP + altitudeI - altitudeD + altitudeF + hoverOffset; float throttleOffset = altitudeP + altitudeI - altitudeD + altitudeF + hoverOffset;
const float tiltMultiplier = 2.0f - fmaxf(getCosTiltAngle(), 0.5f); const float tiltMultiplier = 1.0f / fmaxf(getCosTiltAngle(), 0.5f);
// 1 = flat, 1.24 at 40 degrees, max 1.5 around 60 degrees, the default limit of Angle Mode // 1 = flat, 1.3 at 40 degrees, 1.56 at 50 deg, max 2.0 at 60 degrees or higher
// 2 - cos(x) is between 1/cos(x) and 1/sqrt(cos(x)) in this range // note: the default limit of Angle Mode is 60 degrees
throttleOffset *= tiltMultiplier; throttleOffset *= tiltMultiplier;
float newThrottle = PWM_RANGE_MIN + throttleOffset; float newThrottle = PWM_RANGE_MIN + throttleOffset;