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Code Issues Wiki Activity

Initial dynamic PID implementation

Browse source 
New Defaults and some rework in dynamic PID

Cli Fixes

Copy / Paste Protection

Change Stick threshold

Remove differentiator

Change Default PIDs
This commit is contained in:
borisbstyle 2016-04-30 23:20:06 +02:00
parent ad756bceb4
commit a4456ce6b9
7 changed files with 48 additions and 70 deletions
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17
src/main/config/config.c
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@ -148,10 +148,10 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->pidController = 1;
pidProfile->P8[ROLL] = 45;
pidProfile->I8[ROLL] = 30;
pidProfile->I8[ROLL] = 35;
pidProfile->D8[ROLL] = 18;
pidProfile->P8[PITCH] = 45;
pidProfile->I8[PITCH] = 30;
pidProfile->I8[PITCH] = 35;
pidProfile->D8[PITCH] = 18;
pidProfile->P8[YAW] = 90;
pidProfile->I8[YAW] = 40;
@ -177,11 +177,12 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->D8[PIDVEL] = 75;
pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
pidProfile->yaw_lpf_hz = 100;
pidProfile->yaw_lpf_hz = 70;
pidProfile->rollPitchItermResetRate = 200;
pidProfile->rollPitchItermResetAlways = 0;
pidProfile->yawItermResetRate = 50;
pidProfile->dterm_lpf_hz = 70; // filtering ON by default
pidProfile->dynamic_pterm = 1;
pidProfile->H_sensitivity = 75; // TODO - Cleanup during next EEPROM changes
@ -307,9 +308,9 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
controlRateConfig->rcExpo8 = 60;
controlRateConfig->thrMid8 = 50;
controlRateConfig->thrExpo8 = 0;
controlRateConfig->dynThrPID = 0;
controlRateConfig->dynThrPID = 20;
controlRateConfig->rcYawExpo8 = 20;
controlRateConfig->tpa_breakpoint = 1500;
controlRateConfig->tpa_breakpoint = 1650;
for (uint8_t axis = 0; axis < FLIGHT_DYNAMICS_INDEX_COUNT; axis++) {
controlRateConfig->rates[axis] = 50;
@ -401,10 +402,10 @@ static void resetConf(void)
masterConfig.dcm_kp = 2500; // 1.0 * 10000
masterConfig.dcm_ki = 0; // 0.003 * 10000
masterConfig.gyro_lpf = 0; // 256HZ default
masterConfig.gyro_sync_denom = 8;
masterConfig.gyro_soft_lpf_hz = 80;
masterConfig.gyro_sync_denom = 4;
masterConfig.gyro_soft_lpf_hz = 100;
masterConfig.pid_process_denom = 1;
masterConfig.pid_process_denom = 2;
masterConfig.debug_mode = 0;