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G-Tune port from Harakiri

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Enabled for NAZE, ALIENWWIIF1 and ALIENWIIF3 targets
Implement G-Tune for all PID controllers
The G-Tune tuning results will be save if G-Tune mode will be disabled
during copter is disarmed.
Update PID controller and G-Tune documentation
This commit is contained in:
Michael Jakob 2015-02-27 07:38:51 +01:00
parent b20dc77a74
commit 43f5792a61
15 changed files with 371 additions and 4 deletions
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10
src/main/config/config.c
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@ -190,6 +190,16 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->pid5_oldyw = 0;
pidProfile->pid5_maincuthz = 12;
#ifdef GTUNE
pidProfile->gtune_lolimP[ROLL] = 20; // [10..200] Lower limit of ROLL P during G tune.
pidProfile->gtune_lolimP[PITCH] = 20; // [10..200] Lower limit of PITCH P during G tune.
pidProfile->gtune_lolimP[YAW] = 20; // [10..200] Lower limit of YAW P during G tune.
pidProfile->gtune_hilimP[ROLL] = 70; // [0..200] Higher limit of ROLL P during G tune. 0 Disables tuning for that axis.
pidProfile->gtune_hilimP[PITCH] = 70; // [0..200] Higher limit of PITCH P during G tune. 0 Disables tuning for that axis.
pidProfile->gtune_hilimP[YAW] = 70; // [0..200] Higher limit of YAW P during G tune. 0 Disables tuning for that axis.
pidProfile->gtune_pwr = 0; // [0..10] Strength of adjustment
#endif
}
#ifdef GPS