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Merge pull request #7057 from iNavFlight/avs-autotune-rate-gains-limits

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Increase max gains to 255 and min rate to 40 dps (10 on yaw)
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Alexander van Saase 2021-06-04 11:32:23 +02:00 • committed by GitHub
commit cf7d62a350
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3 changed files with 41 additions and 41 deletions
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68
docs/Settings.md
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@ -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 |
---
@ -1138,7 +1138,7 @@ Fixed-wing attitude stabilisation HORIZON transition point
| Default | Min | Max |
| --- | --- | --- |
| 75 | 0 | 200 |
| 75 | 0 | 255 |
---
@ -1148,7 +1148,7 @@ Fixed wing rate stabilisation D-gain for PITCH
| Default | Min | Max |
| --- | --- | --- |
| 0 | 0 | 200 |
| 0 | 0 | 255 |
---
@ -1158,7 +1158,7 @@ Fixed wing rate stabilisation D-gain for ROLL
| Default | Min | Max |
| --- | --- | --- |
| 0 | 0 | 200 |
| 0 | 0 | 255 |
---
@ -1168,7 +1168,7 @@ Fixed wing rate stabilisation D-gain for YAW
| Default | Min | Max |
| --- | --- | --- |
| 0 | 0 | 200 |
| 0 | 0 | 255 |
---
@ -1178,7 +1178,7 @@ Fixed-wing rate stabilisation FF-gain for PITCH
| Default | Min | Max |
| --- | --- | --- |
| 50 | 0 | 200 |
| 50 | 0 | 255 |
---
@ -1188,7 +1188,7 @@ Fixed-wing rate stabilisation FF-gain for ROLL
| Default | Min | Max |
| --- | --- | --- |
| 50 | 0 | 200 |
| 50 | 0 | 255 |
---
@ -1198,7 +1198,7 @@ Fixed-wing rate stabilisation FF-gain for YAW
| Default | Min | Max |
| --- | --- | --- |
| 60 | 0 | 200 |
| 60 | 0 | 255 |
---
@ -1208,7 +1208,7 @@ Fixed-wing attitude stabilisation low-pass filter cutoff
| Default | Min | Max |
| --- | --- | --- |
| 5 | 0 | 200 |
| 5 | 0 | 255 |
---
@ -1218,7 +1218,7 @@ Fixed-wing rate stabilisation I-gain for PITCH
| Default | Min | Max |
| --- | --- | --- |
| 7 | 0 | 200 |
| 7 | 0 | 255 |
---
@ -1228,7 +1228,7 @@ Fixed-wing rate stabilisation I-gain for ROLL
| Default | Min | Max |
| --- | --- | --- |
| 7 | 0 | 200 |
| 7 | 0 | 255 |
---
@ -1238,7 +1238,7 @@ Fixed-wing rate stabilisation I-gain for YAW
| Default | Min | Max |
| --- | --- | --- |
| 10 | 0 | 200 |
| 10 | 0 | 255 |
---
@ -1318,7 +1318,7 @@ Fixed-wing attitude stabilisation P-gain
| Default | Min | Max |
| --- | --- | --- |
| 20 | 0 | 200 |
| 20 | 0 | 255 |
---
@ -1328,7 +1328,7 @@ Fixed-wing rate stabilisation P-gain for PITCH
| Default | Min | Max |
| --- | --- | --- |
| 5 | 0 | 200 |
| 5 | 0 | 255 |
---
@ -1338,7 +1338,7 @@ Fixed-wing rate stabilisation P-gain for ROLL
| Default | Min | Max |
| --- | --- | --- |
| 5 | 0 | 200 |
| 5 | 0 | 255 |
---
@ -1348,7 +1348,7 @@ Fixed-wing rate stabilisation P-gain for YAW
| Default | Min | Max |
| --- | --- | --- |
| 6 | 0 | 200 |
| 6 | 0 | 255 |
---
@ -2568,7 +2568,7 @@ Multicopter Control Derivative gain for PITCH
| Default | Min | Max |
| --- | --- | --- |
| 60 | 0 | 200 |
| 60 | 0 | 255 |
---
@ -2578,7 +2578,7 @@ Multicopter Control Derivative gain for ROLL
| Default | Min | Max |
| --- | --- | --- |
| 60 | 0 | 200 |
| 60 | 0 | 255 |
---
@ -2588,7 +2588,7 @@ Multicopter Control Derivative gain for YAW
| Default | Min | Max |
| --- | --- | --- |
| 60 | 0 | 200 |
| 60 | 0 | 255 |
---
@ -2598,7 +2598,7 @@ Multicopter attitude stabilisation HORIZON transition point
| Default | Min | Max |
| --- | --- | --- |
| 75 | 0 | 200 |
| 75 | 0 | 255 |
---
@ -2608,7 +2608,7 @@ Multicopter rate stabilisation D-gain for PITCH
| Default | Min | Max |
| --- | --- | --- |
| 23 | 0 | 200 |
| 23 | 0 | 255 |
---
@ -2618,7 +2618,7 @@ Multicopter rate stabilisation D-gain for ROLL
| Default | Min | Max |
| --- | --- | --- |
| 23 | 0 | 200 |
| 23 | 0 | 255 |
---
@ -2628,7 +2628,7 @@ Multicopter rate stabilisation D-gain for YAW
| Default | Min | Max |
| --- | --- | --- |
| 0 | 0 | 200 |
| 0 | 0 | 255 |
---
@ -2638,7 +2638,7 @@ Multicopter attitude stabilisation low-pass filter cutoff
| Default | Min | Max |
| --- | --- | --- |
| 15 | 0 | 200 |
| 15 | 0 | 255 |
---
@ -2648,7 +2648,7 @@ Multicopter rate stabilisation I-gain for PITCH
| Default | Min | Max |
| --- | --- | --- |
| 30 | 0 | 200 |
| 30 | 0 | 255 |
---
@ -2658,7 +2658,7 @@ Multicopter rate stabilisation I-gain for ROLL
| Default | Min | Max |
| --- | --- | --- |
| 30 | 0 | 200 |
| 30 | 0 | 255 |
---
@ -2668,7 +2668,7 @@ Multicopter rate stabilisation I-gain for YAW
| Default | Min | Max |
| --- | --- | --- |
| 45 | 0 | 200 |
| 45 | 0 | 255 |
---
@ -2698,7 +2698,7 @@ Multicopter attitude stabilisation P-gain
| Default | Min | Max |
| --- | --- | --- |
| 20 | 0 | 200 |
| 20 | 0 | 255 |
---
@ -2708,7 +2708,7 @@ Multicopter rate stabilisation P-gain for PITCH
| Default | Min | Max |
| --- | --- | --- |
| 40 | 0 | 200 |
| 40 | 0 | 255 |
---
@ -2718,7 +2718,7 @@ Multicopter rate stabilisation P-gain for ROLL
| Default | Min | Max |
| --- | --- | --- |
| 40 | 0 | 200 |
| 40 | 0 | 255 |
---
@ -2728,7 +2728,7 @@ Multicopter rate stabilisation P-gain for YAW
| Default | Min | Max |
| --- | --- | --- |
| 85 | 0 | 200 |
| 85 | 0 | 255 |
---
@ -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 |
---

8
src/main/fc/settings.yaml
View file

@ -182,12 +182,12 @@ tables:
constants:
RPYL_PID_MIN: 0
RPYL_PID_MAX: 200
RPYL_PID_MAX: 255
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]"
@ -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

6
src/main/flight/pid_autotune.c
View file

@ -47,14 +47,14 @@
#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
#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);