From 20600dc21196a97e7a1cd07c02c8711e930a4e38 Mon Sep 17 00:00:00 2001 From: Dave Pitman Date: Mon, 2 Feb 2015 11:57:57 -0800 Subject: [PATCH 01/11] Delete Rates & Expo.md --- docs/Rates & Expo.md | 28 ---------------------------- 1 file changed, 28 deletions(-) delete mode 100644 docs/Rates & Expo.md diff --git a/docs/Rates & Expo.md b/docs/Rates & Expo.md deleted file mode 100644 index 23d341b6a..000000000 --- a/docs/Rates & Expo.md +++ /dev/null @@ -1,28 +0,0 @@ -#Rates & Expo - -RC Rates (on the RECEIVER tab in the GUI) and Pitch & Roll and Yaw Rates (on the PID TUNING tab of the GUI); - -What is the difference? - -* RC Rates affect the entire contorl input range. To decrease sensitivity at the center of the ranges, RC Expo can be used. -* Pitch & Roll and Yaw Rates target the endpoints of the inputs while having little or no effect on the center of the input ranges. - -##RC Rate - -RC Rate defines the sensitivity to PITCH and ROLL throughout the entire input range. -* A lower # reduces the over all responsiveness. -* A Higher # increases the over all responsiveness. - -If you feel your aircraft is too reactive to your inputs, decrease the value. If you feel it is too sluggish, increase the value. - -##RC Expo - -RC Expo defines a smoother, less sensitive, zone at the center of the PITCH and ROLL input range without affecting the ends of the inputs. -The higher the value, the less sensitive the Pitch and Roll inputs will be when in the center of their range. The lower the value, the more sensitive the Pitch and Roll inputs will be when at the center of their range. -The most sensitive at the center of the inputs is 0 Expo. - -##Pitch & Roll and Yaw Rates - -These values affect mostly the endpoints of the input. For example, If the over all control of the aircraft is good but extreme enpoint controls need to be faster or slower, like for aerobatics, then these rates can be used to increase the response withoug effecting the center of the input ranges as much. - - From a408041df84c86cd8028eeaa3dfe3ae37d53ec8a Mon Sep 17 00:00:00 2001 From: Dave Pitman Date: Wed, 4 Feb 2015 14:52:10 -0800 Subject: [PATCH 02/11] Update PID tuning.md --- docs/PID tuning.md | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/docs/PID tuning.md b/docs/PID tuning.md index 6a75441cb..62ee31683 100644 --- a/docs/PID tuning.md +++ b/docs/PID tuning.md @@ -33,19 +33,21 @@ strength of the correction to be backed off in order to avoid overshooting the t * Note that TPA is set via CLI or on the PID TUNING tab of the GUI. tpa_breakpoint is set via CLI -TPA applies a 'P' value reduction in relation to full Throttle. It is used to 'soften' the P value at extream throttle which sometimes induces oscellation in the aircraft. +TPA applies a PID value reduction in relation to full Throttle. It is used to apply dampening of PID values as full throttle is reached. + +TPA = % of dampening that will occur at full throttle. + +tpa_breakpoint = the point in the throttle curve at which TPA will begin to be applied. An Example: With TPA = 50 (or .5 in the GUI) and tpa_breakpoint = 1500 -At full throttle, your P value is reduced by 50% -at 3/4 throttle (say 1750), your P value is reduced by 25% (1/2 the differnce of 1500 and 2000 = 1/2 of 50% = 25%) -at half throttle (1500), your P vallue is reduced by ~0 +* At 1500 on the throttle channel, the PIDs will begin to be dampened. +* At 3/4 throttle (1750), PIDs are reduced by 25% (half way between 1500 and 2000 the dampening will be 50% of the total TPA value) +* At full throttle (2000) the full amount of dampening set in TPA is applied. (50% in this example) -So how do you use this? +How to use this? -If you're getting oscillations starting at say 3/4 throttle, set tpa breakpoint = 1750 or lower (remember, this is assuming your throttle range is 1000-2000), and then slowly increase TPA until your oscillations are gone. Usually, you will want tpa breakpoint to start a little sooner then when your oscillations start so you'll want to experiment with the values to reduce/remove the oscillations. - -In theory, this should allow you to bump your PIDs a tiny bit more because now you can focus your PID tune to how you fly and not have to worry about bringing it down some to compensate for high throttle oscillations. +If you are getting oscillations starting at say 3/4 throttle, set tpa breakpoint = 1750 or lower (remember, this is assuming your throttle range is 1000-2000), and then slowly increase TPA until your oscillations are gone. Usually, you will want tpa breakpoint to start a little sooner then when your oscillations start so you'll want to experiment with the values to reduce/remove the oscillations. ## PID controllers From e0e815ce7321f79fc270ebcd8e9db5637d61fa76 Mon Sep 17 00:00:00 2001 From: Dave Pitman Date: Wed, 4 Feb 2015 16:26:01 -0800 Subject: [PATCH 03/11] Update PID tuning.md --- docs/PID tuning.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/docs/PID tuning.md b/docs/PID tuning.md index 62ee31683..ccd9362e0 100644 --- a/docs/PID tuning.md +++ b/docs/PID tuning.md @@ -31,7 +31,7 @@ strength of the correction to be backed off in order to avoid overshooting the t ##TPA and TPA Breakpoint -* Note that TPA is set via CLI or on the PID TUNING tab of the GUI. tpa_breakpoint is set via CLI +*Note that TPA is set via CLI or on the PID TUNING tab of the GUI. tpa_breakpoint is set via CLI* TPA applies a PID value reduction in relation to full Throttle. It is used to apply dampening of PID values as full throttle is reached. @@ -42,8 +42,8 @@ tpa_breakpoint = the point in the throttle curve at which TPA will begin to be a An Example: With TPA = 50 (or .5 in the GUI) and tpa_breakpoint = 1500 * At 1500 on the throttle channel, the PIDs will begin to be dampened. -* At 3/4 throttle (1750), PIDs are reduced by 25% (half way between 1500 and 2000 the dampening will be 50% of the total TPA value) -* At full throttle (2000) the full amount of dampening set in TPA is applied. (50% in this example) +* At 3/4 throttle (1750), PIDs are reduced by approximately 25% (half way between 1500 and 2000 the dampening will be 50% of the total TPA value of 50% in this example) +* At full throttle (2000) the full amount of dampening set in TPA is applied. (50% reduction in this example) How to use this? From fddf3a5761b6c71b7008611a6c1f14231a2d6304 Mon Sep 17 00:00:00 2001 From: Dave Pitman Date: Wed, 4 Feb 2015 17:33:47 -0800 Subject: [PATCH 04/11] Update PID tuning.md --- docs/PID tuning.md | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/docs/PID tuning.md b/docs/PID tuning.md index ccd9362e0..240d00c8e 100644 --- a/docs/PID tuning.md +++ b/docs/PID tuning.md @@ -45,7 +45,10 @@ An Example: With TPA = 50 (or .5 in the GUI) and tpa_breakpoint = 1500 * At 3/4 throttle (1750), PIDs are reduced by approximately 25% (half way between 1500 and 2000 the dampening will be 50% of the total TPA value of 50% in this example) * At full throttle (2000) the full amount of dampening set in TPA is applied. (50% reduction in this example) -How to use this? +![tpa example chart](https://cloud.githubusercontent.com/assets/1668170/6053290/655255dc-ac92-11e4-9491-1a58d868c131.png "TPA Example Chart") + + +**How and Why to use this?** If you are getting oscillations starting at say 3/4 throttle, set tpa breakpoint = 1750 or lower (remember, this is assuming your throttle range is 1000-2000), and then slowly increase TPA until your oscillations are gone. Usually, you will want tpa breakpoint to start a little sooner then when your oscillations start so you'll want to experiment with the values to reduce/remove the oscillations. From 8c18b5953094108a71e2f72bc6c9a7822fcb8c6d Mon Sep 17 00:00:00 2001 From: Dave Pitman Date: Wed, 4 Feb 2015 17:52:13 -0800 Subject: [PATCH 05/11] Update PID tuning.md --- docs/PID tuning.md | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/docs/PID tuning.md b/docs/PID tuning.md index 240d00c8e..d08f369b7 100644 --- a/docs/PID tuning.md +++ b/docs/PID tuning.md @@ -16,15 +16,17 @@ Basically, the goal of the PID controller is to bring the craft's rotation rate you're commanding with your sticks. An error is computed which is the difference between your target rotation rate and the actual one measured by the gyroscopes, and the controller tries to bring this error to zero. -The P term controls the strength of the correction that is applied to bring the craft toward the target angle or +##PIDs + +**The P term** controls the strength of the correction that is applied to bring the craft toward the target angle or rotation rate. If the P term is too low, the craft will be difficult to control as it won't respond quickly enough to keep itself stable. If it is set too high, the craft will rapidly oscillate/shake as it continually overshoots its target. -The I term corrects small, long term errors. If it is set too low, the craft's attitude will slowly drift. If it is +**The I term** corrects small, long term errors. If it is set too low, the craft's attitude will slowly drift. If it is set too high, the craft will oscillate (but with slower oscillations than with P being set too high). -The D term attempts to increase system stability by monitoring the rate of change in the error. If the error is +**The D term** attempts to increase system stability by monitoring the rate of change in the error. If the error is changing slowly (so the P and I terms aren't having enough impact on reaching the target) the D term causes an increase in the correction in order to reach the target sooner. If the error is rapidly converging to zero, the D term causes the strength of the correction to be backed off in order to avoid overshooting the target. From b07a0012980d258b5fabd09353116e31d5038971 Mon Sep 17 00:00:00 2001 From: Dave Pitman Date: Wed, 4 Feb 2015 22:41:56 -0800 Subject: [PATCH 06/11] Update PID tuning.md --- docs/PID tuning.md | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/docs/PID tuning.md b/docs/PID tuning.md index d08f369b7..6e586bb84 100644 --- a/docs/PID tuning.md +++ b/docs/PID tuning.md @@ -26,10 +26,7 @@ target. **The I term** corrects small, long term errors. If it is set too low, the craft's attitude will slowly drift. If it is set too high, the craft will oscillate (but with slower oscillations than with P being set too high). -**The D term** attempts to increase system stability by monitoring the rate of change in the error. If the error is -changing slowly (so the P and I terms aren't having enough impact on reaching the target) the D term causes an increase -in the correction in order to reach the target sooner. If the error is rapidly converging to zero, the D term causes the -strength of the correction to be backed off in order to avoid overshooting the target. +**The D term** attempts to increase system stability by monitoring the rate of change in the error. If the error is rapidly converging to zero, the D term causes the strength of the correction to be backed off in order to avoid overshooting the target. ##TPA and TPA Breakpoint @@ -37,11 +34,11 @@ strength of the correction to be backed off in order to avoid overshooting the t TPA applies a PID value reduction in relation to full Throttle. It is used to apply dampening of PID values as full throttle is reached. -TPA = % of dampening that will occur at full throttle. +**TPA** = % of dampening that will occur at full throttle. -tpa_breakpoint = the point in the throttle curve at which TPA will begin to be applied. +**tpa_breakpoint** = the point in the throttle curve at which TPA will begin to be applied. -An Example: With TPA = 50 (or .5 in the GUI) and tpa_breakpoint = 1500 +An Example: With TPA = 50 (or .5 in the GUI) and tpa_breakpoint = 1500 (assumed throttle range 1000 - 2000) * At 1500 on the throttle channel, the PIDs will begin to be dampened. * At 3/4 throttle (1750), PIDs are reduced by approximately 25% (half way between 1500 and 2000 the dampening will be 50% of the total TPA value of 50% in this example) From adf6f710f4072500d55ce7cd71c9ebd26d7a7973 Mon Sep 17 00:00:00 2001 From: Dave Pitman Date: Thu, 12 Feb 2015 09:48:48 -0800 Subject: [PATCH 07/11] Update PID tuning.md Added note about TPA not being used by all PID controllers. --- docs/PID tuning.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/docs/PID tuning.md b/docs/PID tuning.md index 6e586bb84..c29b1f215 100644 --- a/docs/PID tuning.md +++ b/docs/PID tuning.md @@ -32,6 +32,8 @@ set too high, the craft will oscillate (but with slower oscillations than with P *Note that TPA is set via CLI or on the PID TUNING tab of the GUI. tpa_breakpoint is set via CLI* +Also note that TPA and tpa_breakpoint may not be used in certain PID Contorllers. Check the description on the individual controller. + TPA applies a PID value reduction in relation to full Throttle. It is used to apply dampening of PID values as full throttle is reached. **TPA** = % of dampening that will occur at full throttle. From fe31a3016cb1de2b1568d3dab1815a18a15476e8 Mon Sep 17 00:00:00 2001 From: Dave Pitman Date: Thu, 12 Feb 2015 09:49:40 -0800 Subject: [PATCH 08/11] Update PID tuning.md --- docs/PID tuning.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/PID tuning.md b/docs/PID tuning.md index c29b1f215..5c16c5d0c 100644 --- a/docs/PID tuning.md +++ b/docs/PID tuning.md @@ -30,7 +30,7 @@ set too high, the craft will oscillate (but with slower oscillations than with P ##TPA and TPA Breakpoint -*Note that TPA is set via CLI or on the PID TUNING tab of the GUI. tpa_breakpoint is set via CLI* +Note that TPA is set via CLI or on the PID TUNING tab of the GUI. tpa_breakpoint is set via CLI Also note that TPA and tpa_breakpoint may not be used in certain PID Contorllers. Check the description on the individual controller. From c9747f397e9bb6773f86c387d14bfe3db5bdb8d2 Mon Sep 17 00:00:00 2001 From: Dave Pitman Date: Thu, 12 Feb 2015 09:57:43 -0800 Subject: [PATCH 09/11] Update PID tuning.md Added note on PID cont. 1 about P_Level that has been merged since this PR was created. --- docs/PID tuning.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/PID tuning.md b/docs/PID tuning.md index 5c16c5d0c..f64f2dabc 100644 --- a/docs/PID tuning.md +++ b/docs/PID tuning.md @@ -87,7 +87,7 @@ 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. +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. 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 From 09c13f16afb4ce35421982a1d52c95d33bfaba02 Mon Sep 17 00:00:00 2001 From: Dave Pitman Date: Sat, 14 Feb 2015 09:05:03 -0800 Subject: [PATCH 10/11] Update PID tuning.md Added tpa note on Controller 1. --- docs/PID tuning.md | 1 + 1 file changed, 1 insertion(+) diff --git a/docs/PID tuning.md b/docs/PID tuning.md index f64f2dabc..931f754b3 100644 --- a/docs/PID tuning.md +++ b/docs/PID tuning.md @@ -94,6 +94,7 @@ applied. The default Cleanflight setting for "I" will result in virtually no aut need to be increased in order to perform like PID controller 0. The LEVEL "D" setting is not used by this controller. +TPA is not used by this controller. ### PID controller 2, "LuxFloat" From d83455226172d8157e679c85d8129fe03be40ab9 Mon Sep 17 00:00:00 2001 From: Dave Pitman Date: Sat, 14 Feb 2015 09:07:12 -0800 Subject: [PATCH 11/11] Update PID tuning.md --- docs/PID tuning.md | 1 + 1 file changed, 1 insertion(+) diff --git a/docs/PID tuning.md b/docs/PID tuning.md index 931f754b3..129eb3007 100644 --- a/docs/PID tuning.md +++ b/docs/PID tuning.md @@ -94,6 +94,7 @@ applied. The default Cleanflight setting for "I" will result in virtually no aut need to be increased in order to perform like PID controller 0. The LEVEL "D" setting is not used by this controller. + TPA is not used by this controller. ### PID controller 2, "LuxFloat"