rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #608 from icdark/patch-1 

Fix typo in "PID tuning.md"
This commit is contained in:
Dominic Clifton 2015-03-11 20:11:04 +01:00
parent 77eefd1a8f e1be456b3c
commit 3a0a4e70f9
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
docs/PID tuning.md
View File

@ -88,7 +88,7 @@ affecting yaw, roll or pitch rotation rates (which are tuned by the dedicated ro
settings).
In Angle mode, this controller uses the LEVEL "P" PID setting to decide how strong the auto-level correction should
be. Note that the default value for P_Level is 90. This is more than likely too high of a value for most, and will cause the model to be very unstable in Angle Mode, and could result in loss of control. It is recommended to change this value to 20 before using PID Controller 2 in Angle Mode.
be. Note that the default value for P_Level is 90. This is more than likely too high of a value for most, and will cause the model to be very unstable in Angle Mode, and could result in loss of control. It is recommended to change this value to 20 before using PID Controller 1 in Angle Mode.
In Horizon mode, this controller uses the LEVEL "I" PID setting to decide how much auto-level correction should be
applied. The default Cleanflight setting for "I" will result in virtually no auto-leveling being applied, so that will
@ -150,7 +150,7 @@ For the ALIENWII32 targets the gyroscale is removed for more yaw authority. This
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<EFBFBD>t need retuning of the PID values when looptime is changing. Actually there are two settings hardcoded which are configurable via the GUI in Harakiri:
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. Actually there are two settings hardcoded which are configurable via the GUI in Harakiri:
OLD_YAW 0 // [0/1] 0 = multiwii 2.3 yaw, 1 = older yaw.
MAIN_CUT_HZ 12.0f // (default 12Hz, Range 1-50Hz)