From e42ed1ad7037d453b59c2454161e0f25cdf63ea7 Mon Sep 17 00:00:00 2001 From: Michael Jakob Date: Mon, 29 Jun 2015 22:34:38 +0200 Subject: [PATCH] Update to integrate with BorisB filters after rebase. Documentation update --- docs/PID tuning.md | 3 ++- src/main/config/config.c | 1 - src/main/io/serial_cli.c | 1 - 3 files changed, 2 insertions(+), 3 deletions(-) diff --git a/docs/PID tuning.md b/docs/PID tuning.md index 972584c5e8..a125739c13 100644 --- a/docs/PID tuning.md +++ b/docs/PID tuning.md @@ -152,7 +152,8 @@ PID Controller 5 is an port of the PID controller from the Harakiri firmware. The algorithm is leveraging more floating point math. This PID controller also compensates for different looptimes on roll and pitch. It likely don't need retuning of the PID values when looptime is changing. There are two additional settings which are configurable via the CLI in Harakiri: - set pid5_maincuthz = 12 [1-50Hz] Cut Off Frequency for D term of main Pid controller + set dterm_cut_hz = 0 [1-50Hz] Cut Off Frequency for D term of main PID controller + (default of 0 equals to 12Hz which was the hardcoded setting in previous Cleanflight versions) set pid5_oldyw = 0 [0/1] 0 = multiwii 2.3 yaw (default), 1 = older yaw The PID controller is flight tested and running well with the default PID settings. If you want do acrobatics start slowly. diff --git a/src/main/config/config.c b/src/main/config/config.c index 1e612592f8..5eab90d1e5 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -189,7 +189,6 @@ static void resetPidProfile(pidProfile_t *pidProfile) pidProfile->H_sensitivity = 75; pidProfile->pid5_oldyw = 0; - pidProfile->pid5_maincuthz = 12; #ifdef GTUNE pidProfile->gtune_lolimP[ROLL] = 10; // [0..200] Lower limit of ROLL P during G tune. diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index 9822ef9f4f..41200fdeb1 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -515,7 +515,6 @@ const clivalue_t valueTable[] = { { "gyro_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gyro_cut_hz, 0, 200 }, { "pid5_oldyw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pid5_oldyw, 0, 1 }, - { "pid5_maincuthz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pid5_maincuthz, 1, 50 }, #ifdef GTUNE { "gtune_loP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_ROLL], 10, 200 },