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Added accel Z astatic regulator into pitch channel

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demvlad 2025-04-15 14:51:31 +03:00
parent e4c09603ad
commit 72dfefc1f8
5 changed files with 60 additions and 15 deletions
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15
src/main/flight/pid.c
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@ -271,12 +271,15 @@ void resetPidProfile(pidProfile_t *pidProfile)
.chirp_frequency_end_deci_hz = 6000,
.chirp_time_seconds = 20,
#ifdef USE_AIRPLANE_FCS
.afcs_stick_gain = { 100, 100, 100 }, // Percent control output with full stick
.afcs_damping_gain = { 20, 30, 100 }, // percent control range addition by 1 degree per second angle rate * 1000
.afcs_pitch_damping_filter_freq = 160, // pitch damping filter cut freq Hz * 100
.afcs_pitch_stability_gain = 0, // percent control range addition by 1g accel z change *100
.afcs_yaw_damping_filter_freq = 5, // yaw damping filter cut freq Hz * 100
.afcs_yaw_stability_gain = 0, // percent control range by 1g accel y change *100
.afcs_stick_gain = { 100, 100, 100 }, // Percent control output
.afcs_damping_gain = { 20, 30, 50 }, // percent control range addition by 1 degree per second angle rate * 1000
.afcs_pitch_damping_filter_freq = 160, // pitch damping filter cut freq Hz * 100
.afcs_pitch_stability_gain = 0, // percent control range addition by 1g accel z change *100
.afcs_yaw_damping_filter_freq = 5, // yaw damping filter cut freq Hz * 100
.afcs_yaw_stability_gain = 0, // percent control by 1g accel change *100
.afcs_pitch_accel_i_gain = 0, // elevator speed for 1g accel difference in %/sec *10
.afcs_pitch_accel_max = 80, // maximal positive z accel value *10
.afcs_pitch_accel_min = 60, // maximal negative z accel value *10
#endif
);
}