From 80c9c9c58b5ab32f8e4444153dd54b2996cb80e0 Mon Sep 17 00:00:00 2001 From: Alexander van Saase Date: Sat, 29 May 2021 23:46:14 +0200 Subject: [PATCH 1/6] change max gains to 300 and min rate to 40dps (10 dps on yaw) --- src/main/fc/settings.yaml | 6 +++--- src/main/flight/pid_autotune.c | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml index 16e8923511..5c102ff736 100644 --- a/src/main/fc/settings.yaml +++ b/src/main/fc/settings.yaml @@ -182,12 +182,12 @@ tables: constants: RPYL_PID_MIN: 0 - RPYL_PID_MAX: 200 + RPYL_PID_MAX: 300 MANUAL_RATE_MIN: 0 MANUAL_RATE_MAX: 100 - ROLL_PITCH_RATE_MIN: 6 + ROLL_PITCH_RATE_MIN: 4 ROLL_PITCH_RATE_MAX: 180 groups: @@ -1289,7 +1289,7 @@ groups: description: "Defines rotation rate on YAW axis that UAV will try to archive on max. stick deflection. Rates are defined in tens of degrees (deca-degrees) per second [rate = dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure." default_value: 20 field: stabilized.rates[FD_YAW] - min: 2 + min: 1 max: 180 - name: manual_rc_expo description: "Exposition value used for the PITCH/ROLL axes by the `MANUAL` flight mode [0-100]" diff --git a/src/main/flight/pid_autotune.c b/src/main/flight/pid_autotune.c index 9679e736e2..91e8682634 100755 --- a/src/main/flight/pid_autotune.c +++ b/src/main/flight/pid_autotune.c @@ -47,7 +47,7 @@ #include "flight/pid.h" #define AUTOTUNE_FIXED_WING_MIN_FF 10 -#define AUTOTUNE_FIXED_WING_MAX_FF 200 +#define AUTOTUNE_FIXED_WING_MAX_FF 300 #define AUTOTUNE_FIXED_WING_MIN_ROLL_PITCH_RATE 40 #define AUTOTUNE_FIXED_WING_MIN_YAW_RATE 10 #define AUTOTUNE_FIXED_WING_MAX_RATE 720 From d2f0b7813fc03c19014070d4c6b02b5efd12954c Mon Sep 17 00:00:00 2001 From: Alexander van Saase Date: Tue, 1 Jun 2021 13:55:15 +0200 Subject: [PATCH 2/6] cleanup --- src/main/flight/pid_autotune.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/flight/pid_autotune.c b/src/main/flight/pid_autotune.c index 91e8682634..5dcc40a12f 100755 --- a/src/main/flight/pid_autotune.c +++ b/src/main/flight/pid_autotune.c @@ -53,8 +53,8 @@ #define AUTOTUNE_FIXED_WING_MAX_RATE 720 #define AUTOTUNE_FIXED_WING_CONVERGENCE_RATE 10 #define AUTOTUNE_FIXED_WING_SAMPLE_INTERVAL 20 // ms -#define AUTOTUNE_FIXED_WING_SAMPLES 1000 // Use averagea over the last 20 seconds -#define AUTOTUNE_FIXED_WING_MIN_SAMPLES 250 // Start updating tune after 5 seconds +#define AUTOTUNE_FIXED_WING_SAMPLES 1000 // Use average over the last 20 seconds of hard maneuvers +#define AUTOTUNE_FIXED_WING_MIN_SAMPLES 250 // Start updating tune after 5 seconds of hard maneuvers PG_REGISTER_WITH_RESET_TEMPLATE(pidAutotuneConfig_t, pidAutotuneConfig, PG_PID_AUTOTUNE_CONFIG, 2); From 7abd6e1eda35421672c15c38f492b0cffad93cd9 Mon Sep 17 00:00:00 2001 From: Alexander van Saase Date: Tue, 1 Jun 2021 14:06:23 +0200 Subject: [PATCH 3/6] docs --- docs/Settings.md | 66 ++++++++++++++++++++++++------------------------ 1 file changed, 33 insertions(+), 33 deletions(-) diff --git a/docs/Settings.md b/docs/Settings.md index cc17716fac..407f59bab6 100644 --- a/docs/Settings.md +++ b/docs/Settings.md @@ -1138,7 +1138,7 @@ Fixed-wing attitude stabilisation HORIZON transition point | Default | Min | Max | | --- | --- | --- | -| 75 | 0 | 200 | +| 75 | 0 | 300 | --- @@ -1148,7 +1148,7 @@ Fixed wing rate stabilisation D-gain for PITCH | Default | Min | Max | | --- | --- | --- | -| 0 | 0 | 200 | +| 0 | 0 | 300 | --- @@ -1158,7 +1158,7 @@ Fixed wing rate stabilisation D-gain for ROLL | Default | Min | Max | | --- | --- | --- | -| 0 | 0 | 200 | +| 0 | 0 | 300 | --- @@ -1168,7 +1168,7 @@ Fixed wing rate stabilisation D-gain for YAW | Default | Min | Max | | --- | --- | --- | -| 0 | 0 | 200 | +| 0 | 0 | 300 | --- @@ -1178,7 +1178,7 @@ Fixed-wing rate stabilisation FF-gain for PITCH | Default | Min | Max | | --- | --- | --- | -| 50 | 0 | 200 | +| 50 | 0 | 300 | --- @@ -1188,7 +1188,7 @@ Fixed-wing rate stabilisation FF-gain for ROLL | Default | Min | Max | | --- | --- | --- | -| 50 | 0 | 200 | +| 50 | 0 | 300 | --- @@ -1198,7 +1198,7 @@ Fixed-wing rate stabilisation FF-gain for YAW | Default | Min | Max | | --- | --- | --- | -| 60 | 0 | 200 | +| 60 | 0 | 300 | --- @@ -1208,7 +1208,7 @@ Fixed-wing attitude stabilisation low-pass filter cutoff | Default | Min | Max | | --- | --- | --- | -| 5 | 0 | 200 | +| 5 | 0 | 300 | --- @@ -1218,7 +1218,7 @@ Fixed-wing rate stabilisation I-gain for PITCH | Default | Min | Max | | --- | --- | --- | -| 7 | 0 | 200 | +| 7 | 0 | 300 | --- @@ -1228,7 +1228,7 @@ Fixed-wing rate stabilisation I-gain for ROLL | Default | Min | Max | | --- | --- | --- | -| 7 | 0 | 200 | +| 7 | 0 | 300 | --- @@ -1238,7 +1238,7 @@ Fixed-wing rate stabilisation I-gain for YAW | Default | Min | Max | | --- | --- | --- | -| 10 | 0 | 200 | +| 10 | 0 | 300 | --- @@ -1318,7 +1318,7 @@ Fixed-wing attitude stabilisation P-gain | Default | Min | Max | | --- | --- | --- | -| 20 | 0 | 200 | +| 20 | 0 | 300 | --- @@ -1328,7 +1328,7 @@ Fixed-wing rate stabilisation P-gain for PITCH | Default | Min | Max | | --- | --- | --- | -| 5 | 0 | 200 | +| 5 | 0 | 300 | --- @@ -1338,7 +1338,7 @@ Fixed-wing rate stabilisation P-gain for ROLL | Default | Min | Max | | --- | --- | --- | -| 5 | 0 | 200 | +| 5 | 0 | 300 | --- @@ -1348,7 +1348,7 @@ Fixed-wing rate stabilisation P-gain for YAW | Default | Min | Max | | --- | --- | --- | -| 6 | 0 | 200 | +| 6 | 0 | 300 | --- @@ -2568,7 +2568,7 @@ Multicopter Control Derivative gain for PITCH | Default | Min | Max | | --- | --- | --- | -| 60 | 0 | 200 | +| 60 | 0 | 300 | --- @@ -2578,7 +2578,7 @@ Multicopter Control Derivative gain for ROLL | Default | Min | Max | | --- | --- | --- | -| 60 | 0 | 200 | +| 60 | 0 | 300 | --- @@ -2588,7 +2588,7 @@ Multicopter Control Derivative gain for YAW | Default | Min | Max | | --- | --- | --- | -| 60 | 0 | 200 | +| 60 | 0 | 300 | --- @@ -2598,7 +2598,7 @@ Multicopter attitude stabilisation HORIZON transition point | Default | Min | Max | | --- | --- | --- | -| 75 | 0 | 200 | +| 75 | 0 | 300 | --- @@ -2608,7 +2608,7 @@ Multicopter rate stabilisation D-gain for PITCH | Default | Min | Max | | --- | --- | --- | -| 23 | 0 | 200 | +| 23 | 0 | 300 | --- @@ -2618,7 +2618,7 @@ Multicopter rate stabilisation D-gain for ROLL | Default | Min | Max | | --- | --- | --- | -| 23 | 0 | 200 | +| 23 | 0 | 300 | --- @@ -2628,7 +2628,7 @@ Multicopter rate stabilisation D-gain for YAW | Default | Min | Max | | --- | --- | --- | -| 0 | 0 | 200 | +| 0 | 0 | 300 | --- @@ -2638,7 +2638,7 @@ Multicopter attitude stabilisation low-pass filter cutoff | Default | Min | Max | | --- | --- | --- | -| 15 | 0 | 200 | +| 15 | 0 | 300 | --- @@ -2648,7 +2648,7 @@ Multicopter rate stabilisation I-gain for PITCH | Default | Min | Max | | --- | --- | --- | -| 30 | 0 | 200 | +| 30 | 0 | 300 | --- @@ -2658,7 +2658,7 @@ Multicopter rate stabilisation I-gain for ROLL | Default | Min | Max | | --- | --- | --- | -| 30 | 0 | 200 | +| 30 | 0 | 300 | --- @@ -2668,7 +2668,7 @@ Multicopter rate stabilisation I-gain for YAW | Default | Min | Max | | --- | --- | --- | -| 45 | 0 | 200 | +| 45 | 0 | 300 | --- @@ -2698,7 +2698,7 @@ Multicopter attitude stabilisation P-gain | Default | Min | Max | | --- | --- | --- | -| 20 | 0 | 200 | +| 20 | 0 | 300 | --- @@ -2708,7 +2708,7 @@ Multicopter rate stabilisation P-gain for PITCH | Default | Min | Max | | --- | --- | --- | -| 40 | 0 | 200 | +| 40 | 0 | 300 | --- @@ -2718,7 +2718,7 @@ Multicopter rate stabilisation P-gain for ROLL | Default | Min | Max | | --- | --- | --- | -| 40 | 0 | 200 | +| 40 | 0 | 300 | --- @@ -2728,7 +2728,7 @@ Multicopter rate stabilisation P-gain for YAW | Default | Min | Max | | --- | --- | --- | -| 85 | 0 | 200 | +| 85 | 0 | 300 | --- @@ -4618,7 +4618,7 @@ Defines rotation rate on PITCH axis that UAV will try to archive on max. stick d | Default | Min | Max | | --- | --- | --- | -| 20 | 6 | 180 | +| 20 | 4 | 180 | --- @@ -4788,7 +4788,7 @@ Defines rotation rate on ROLL axis that UAV will try to archive on max. stick de | Default | Min | Max | | --- | --- | --- | -| 20 | 6 | 180 | +| 20 | 4 | 180 | --- @@ -5628,7 +5628,7 @@ Defines rotation rate on YAW axis that UAV will try to archive on max. stick def | Default | Min | Max | | --- | --- | --- | -| 20 | 2 | 180 | +| 20 | 1 | 180 | --- From 1deed7c7d20e6882b38137d78e864bbef01cfe01 Mon Sep 17 00:00:00 2001 From: Alexander van Saase Date: Tue, 1 Jun 2021 14:12:55 +0200 Subject: [PATCH 4/6] default 90% target deflection --- docs/Settings.md | 2 +- src/main/fc/settings.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/Settings.md b/docs/Settings.md index 407f59bab6..54abd73e1b 100644 --- a/docs/Settings.md +++ b/docs/Settings.md @@ -1098,7 +1098,7 @@ The target percentage of maximum mixer output used for determining the rates in | Default | Min | Max | | --- | --- | --- | -| 80 | 50 | 100 | +| 90 | 50 | 100 | --- diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml index 5c102ff736..3ebfe2bfbc 100644 --- a/src/main/fc/settings.yaml +++ b/src/main/fc/settings.yaml @@ -2161,7 +2161,7 @@ groups: type: uint8_t - name: fw_autotune_max_rate_deflection description: "The target percentage of maximum mixer output used for determining the rates in `AUTO` and `LIMIT`." - default_value: 80 + default_value: 90 field: fw_max_rate_deflection min: 50 max: 100 From db8bad2f6aae377ba1b4a3d39ae122d7affc41ce Mon Sep 17 00:00:00 2001 From: Alexander van Saase Date: Wed, 2 Jun 2021 20:30:33 +0200 Subject: [PATCH 5/6] 255 max gains --- src/main/fc/settings.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml index 3ebfe2bfbc..4995b9ce34 100644 --- a/src/main/fc/settings.yaml +++ b/src/main/fc/settings.yaml @@ -182,7 +182,7 @@ tables: constants: RPYL_PID_MIN: 0 - RPYL_PID_MAX: 300 + RPYL_PID_MAX: 255 MANUAL_RATE_MIN: 0 MANUAL_RATE_MAX: 100 From 0aec5ca0f1bb25c776c9b73e46fc74e00931aee1 Mon Sep 17 00:00:00 2001 From: Alexander van Saase Date: Wed, 2 Jun 2021 20:32:10 +0200 Subject: [PATCH 6/6] docs update --- docs/Settings.md | 60 ++++++++++++++++++++++++------------------------ 1 file changed, 30 insertions(+), 30 deletions(-) diff --git a/docs/Settings.md b/docs/Settings.md index 54abd73e1b..4f5d6487f7 100644 --- a/docs/Settings.md +++ b/docs/Settings.md @@ -1138,7 +1138,7 @@ Fixed-wing attitude stabilisation HORIZON transition point | Default | Min | Max | | --- | --- | --- | -| 75 | 0 | 300 | +| 75 | 0 | 255 | --- @@ -1148,7 +1148,7 @@ Fixed wing rate stabilisation D-gain for PITCH | Default | Min | Max | | --- | --- | --- | -| 0 | 0 | 300 | +| 0 | 0 | 255 | --- @@ -1158,7 +1158,7 @@ Fixed wing rate stabilisation D-gain for ROLL | Default | Min | Max | | --- | --- | --- | -| 0 | 0 | 300 | +| 0 | 0 | 255 | --- @@ -1168,7 +1168,7 @@ Fixed wing rate stabilisation D-gain for YAW | Default | Min | Max | | --- | --- | --- | -| 0 | 0 | 300 | +| 0 | 0 | 255 | --- @@ -1178,7 +1178,7 @@ Fixed-wing rate stabilisation FF-gain for PITCH | Default | Min | Max | | --- | --- | --- | -| 50 | 0 | 300 | +| 50 | 0 | 255 | --- @@ -1188,7 +1188,7 @@ Fixed-wing rate stabilisation FF-gain for ROLL | Default | Min | Max | | --- | --- | --- | -| 50 | 0 | 300 | +| 50 | 0 | 255 | --- @@ -1198,7 +1198,7 @@ Fixed-wing rate stabilisation FF-gain for YAW | Default | Min | Max | | --- | --- | --- | -| 60 | 0 | 300 | +| 60 | 0 | 255 | --- @@ -1208,7 +1208,7 @@ Fixed-wing attitude stabilisation low-pass filter cutoff | Default | Min | Max | | --- | --- | --- | -| 5 | 0 | 300 | +| 5 | 0 | 255 | --- @@ -1218,7 +1218,7 @@ Fixed-wing rate stabilisation I-gain for PITCH | Default | Min | Max | | --- | --- | --- | -| 7 | 0 | 300 | +| 7 | 0 | 255 | --- @@ -1228,7 +1228,7 @@ Fixed-wing rate stabilisation I-gain for ROLL | Default | Min | Max | | --- | --- | --- | -| 7 | 0 | 300 | +| 7 | 0 | 255 | --- @@ -1238,7 +1238,7 @@ Fixed-wing rate stabilisation I-gain for YAW | Default | Min | Max | | --- | --- | --- | -| 10 | 0 | 300 | +| 10 | 0 | 255 | --- @@ -1318,7 +1318,7 @@ Fixed-wing attitude stabilisation P-gain | Default | Min | Max | | --- | --- | --- | -| 20 | 0 | 300 | +| 20 | 0 | 255 | --- @@ -1328,7 +1328,7 @@ Fixed-wing rate stabilisation P-gain for PITCH | Default | Min | Max | | --- | --- | --- | -| 5 | 0 | 300 | +| 5 | 0 | 255 | --- @@ -1338,7 +1338,7 @@ Fixed-wing rate stabilisation P-gain for ROLL | Default | Min | Max | | --- | --- | --- | -| 5 | 0 | 300 | +| 5 | 0 | 255 | --- @@ -1348,7 +1348,7 @@ Fixed-wing rate stabilisation P-gain for YAW | Default | Min | Max | | --- | --- | --- | -| 6 | 0 | 300 | +| 6 | 0 | 255 | --- @@ -2568,7 +2568,7 @@ Multicopter Control Derivative gain for PITCH | Default | Min | Max | | --- | --- | --- | -| 60 | 0 | 300 | +| 60 | 0 | 255 | --- @@ -2578,7 +2578,7 @@ Multicopter Control Derivative gain for ROLL | Default | Min | Max | | --- | --- | --- | -| 60 | 0 | 300 | +| 60 | 0 | 255 | --- @@ -2588,7 +2588,7 @@ Multicopter Control Derivative gain for YAW | Default | Min | Max | | --- | --- | --- | -| 60 | 0 | 300 | +| 60 | 0 | 255 | --- @@ -2598,7 +2598,7 @@ Multicopter attitude stabilisation HORIZON transition point | Default | Min | Max | | --- | --- | --- | -| 75 | 0 | 300 | +| 75 | 0 | 255 | --- @@ -2608,7 +2608,7 @@ Multicopter rate stabilisation D-gain for PITCH | Default | Min | Max | | --- | --- | --- | -| 23 | 0 | 300 | +| 23 | 0 | 255 | --- @@ -2618,7 +2618,7 @@ Multicopter rate stabilisation D-gain for ROLL | Default | Min | Max | | --- | --- | --- | -| 23 | 0 | 300 | +| 23 | 0 | 255 | --- @@ -2628,7 +2628,7 @@ Multicopter rate stabilisation D-gain for YAW | Default | Min | Max | | --- | --- | --- | -| 0 | 0 | 300 | +| 0 | 0 | 255 | --- @@ -2638,7 +2638,7 @@ Multicopter attitude stabilisation low-pass filter cutoff | Default | Min | Max | | --- | --- | --- | -| 15 | 0 | 300 | +| 15 | 0 | 255 | --- @@ -2648,7 +2648,7 @@ Multicopter rate stabilisation I-gain for PITCH | Default | Min | Max | | --- | --- | --- | -| 30 | 0 | 300 | +| 30 | 0 | 255 | --- @@ -2658,7 +2658,7 @@ Multicopter rate stabilisation I-gain for ROLL | Default | Min | Max | | --- | --- | --- | -| 30 | 0 | 300 | +| 30 | 0 | 255 | --- @@ -2668,7 +2668,7 @@ Multicopter rate stabilisation I-gain for YAW | Default | Min | Max | | --- | --- | --- | -| 45 | 0 | 300 | +| 45 | 0 | 255 | --- @@ -2698,7 +2698,7 @@ Multicopter attitude stabilisation P-gain | Default | Min | Max | | --- | --- | --- | -| 20 | 0 | 300 | +| 20 | 0 | 255 | --- @@ -2708,7 +2708,7 @@ Multicopter rate stabilisation P-gain for PITCH | Default | Min | Max | | --- | --- | --- | -| 40 | 0 | 300 | +| 40 | 0 | 255 | --- @@ -2718,7 +2718,7 @@ Multicopter rate stabilisation P-gain for ROLL | Default | Min | Max | | --- | --- | --- | -| 40 | 0 | 300 | +| 40 | 0 | 255 | --- @@ -2728,7 +2728,7 @@ Multicopter rate stabilisation P-gain for YAW | Default | Min | Max | | --- | --- | --- | -| 85 | 0 | 300 | +| 85 | 0 | 255 | ---