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Make G-Tune more configurable

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- add two new CLI paramaters "gtune_settle_time" and
"gtune_average_cycles"
- the settle time is not depending on looptime anymore
- updated default setting to cover e wider range of copters
- remove lower limit for P value for CLI (Zero P is now posible, but
schould be used with care)
- Documentation updates
This commit is contained in:
Michael Jakob 2015-05-04 14:06:09 +02:00
parent ef5887856d
commit 53531224be
5 changed files with 52 additions and 35 deletions
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6
src/main/flight/pid.h
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@ -70,9 +70,11 @@ typedef struct pidProfile_s {
uint8_t pid5_oldyw; // [0/1] 0 = multiwii 2.3 yaw, 1 = older yaw
#ifdef GTUNE
uint8_t gtune_lolimP[3]; // [10..200] Lower limit of P during G tune
uint8_t gtune_lolimP[3]; // [0..200] Lower limit of P during G tune
uint8_t gtune_hilimP[3]; // [0..200] Higher limit of P during G tune. 0 Disables tuning for that axis.
int8_t gtune_pwr; // [0..10] Strength of adjustment
uint8_t gtune_pwr; // [0..10] Strength of adjustment
uint16_t gtune_settle_time; // [200..1000] Settle time in ms
uint8_t gtune_average_cycles; // [8..128] Number of looptime cycles used for gyro average calculation
#endif
} pidProfile_t;