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Code Issues Wiki Activity

remove obsolete nav_mc_pos_xy_[id] settings from Cli.md

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Jonathan Hudson 2020-02-08 14:06:53 +00:00
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docs/Cli.md
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@ -363,8 +363,6 @@ A shorter form is also supported to enable and disable functions using `serial <
| nav_mc_vel_z_i | 50 | I gain of velocity PID controller |
| nav_mc_vel_z_d | 10 | D gain of velocity PID controller |
| nav_mc_pos_xy_p | 65 | Controls how fast the drone will fly towards the target position. This is a multiplier to convert displacement to target velocity |
| nav_mc_pos_xy_i | 120 | Controls deceleration time. Measured in 1/100 sec. Expected hold position is placed at a distance calculated as decelerationTime * currentVelocity |
| nav_mc_pos_xy_d | 10 | |
| nav_mc_vel_xy_p | 40 | P gain of Position-Rate (Velocity to Acceleration) PID controller. Higher P means stronger response when position error occurs. Too much P might cause "nervous" behavior and oscillations |
| nav_mc_vel_xy_i | 15 | I gain of Position-Rate (Velocity to Acceleration) PID controller. Used for drift compensation (caused by wind for example). Higher I means stronger response to drift. Too much I gain might cause target overshot |
| nav_mc_vel_xy_d | 100 | D gain of Position-Rate (Velocity to Acceleration) PID controller. It can damp P and I. Increasing D might help when drone overshoots target. |