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Updating PID controller documentation

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Dominic Clifton 2015-01-28 13:21:10 +01:00
parent e134574c81
commit db1c5d8ac4
1 changed files with 6 additions and 6 deletions
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docs/PID tuning.md
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@ -31,13 +31,13 @@ strength of the correction to be backed off in order to avoid overshooting the t
## PID controllers
Cleanflight has three built-in PID controllers which each have different flight behavior. Each controller requires
Cleanflight has 5 built-in PID controllers which each have different flight behavior. Each controller requires
different PID settings for best performance, so if you tune your craft using one PID controller, those settings will
likely not work well on any of the other controllers.
You can change between PID controllers by running `set pid_controller = X` on the CLI tab of the Cleanflight
Configurator, where X is the number of the controller you want to use. Please read these notes first before trying one
out!
You can change between PID controllers by running `set pid_controller=n` on the CLI tab of the Cleanflight
Configurator, where `n` is the number of the controller you want to use. Please read these notes first before trying one
out.
### PID controller 0, "MultiWii" (default)
@ -110,7 +110,7 @@ stick, and no self-leveling will be applied at 75% stick and onwards.
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.
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.
@ -118,6 +118,6 @@ For the ALIENWII32 targets the gyroscale is removed for even more yaw authority.
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.
This PID controller was initialy implemented 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.