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Merge pull request #430 from MJ666/MultiWII_PID_documentation 

PID contoller documentation update (MultiWii23 and MultiWiiHybrid)
This commit is contained in:
Dominic Clifton 2015-01-27 00:57:07 +01:00
parent 8824f708e0 cc65a44624
commit 5f0762c62d
2 changed files with 18 additions and 2 deletions
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18
docs/PID tuning.md
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@ -104,4 +104,20 @@ only the gyros. The default is 75%
For example, at a setting of "100" for "sensitivity_horizon", 100% self-leveling strength will be applied at center
stick, 50% self-leveling will be applied at 50% stick, and no self-leveling will be applied at 100% stick. If
sensitivity is decreased to 75, 100% self-leveling will be applied at center stick, 50% will be applied at 63%
stick, and no self-leveling will be applied at 75% stick and onwards.
stick, and no self-leveling will be applied at 75% stick and onwards.
### PID controller 3, "MultiWii23" (default for the ALIENWIIF1 and ALIENWIIF3 targets)
PID Controller 3 is an direct port of the PID controller from MultiWii 2.3 and later.
The algorithm is handling roll and pitch differently to yaw. users with problems on yaw authority should try this one.
For the ALIENWII32 targets the gyroscale is removed for even more yaw authority. This will provide best performance on very small multicopters with brushed motors.
### PID controller 4, "MultiWiiHybrid"
PID Controller 4 is an hybrid version of two MultiWii PID controllers. Roll and pitch is using the MultiWii 2.2 algorithm and yaw is using the 2.3 algorithm.
This PID controller was initialy implementd for testing purposes but is also performing quite well.
For the ALIENWII32 targets the gyroscale is removed for more yaw authority. This will provide best performance on very small multicopters with brushed motors.

2
src/main/config/config.c
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@ -470,7 +470,7 @@ static void resetConf(void)
masterConfig.escAndServoConfig.maxthrottle = 2000;
masterConfig.motor_pwm_rate = 32000;
masterConfig.looptime = 2000;
// currentProfile->pidController = 3;
currentProfile->pidController = 3;
currentProfile->pidProfile.P8[ROLL] = 36;
currentProfile->pidProfile.P8[PITCH] = 36;
currentProfile->failsafeConfig.failsafe_delay = 2;