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Decreasing autotune max oscillation value since a value of 4 was found 

to always cause P to increase.
This commit is contained in:
Dominic Clifton 2014-05-30 09:01:37 +01:00
parent 5913266ce0
commit e083a3266d
1 changed files with 4 additions and 5 deletions
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9
src/flight_autotune.c
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@ -56,7 +56,7 @@ extern int16_t debug[4];
* Always autotune on a full battery.
*/
#define AUTOTUNE_MAX_OSCILLATION_ANGLE 4.0f
#define AUTOTUNE_MAX_OSCILLATION_ANGLE 2.0f
#define AUTOTUNE_TARGET_ANGLE 20.0f
#define AUTOTUNE_D_MULTIPLIER 1.2f
#define AUTOTUNE_SETTLING_DELAY_MS 250 // 1/4 of a second.
@ -237,15 +237,14 @@ float autotune(angle_index_t angleIndex, const rollAndPitchInclination_t *inclin
#ifdef PREFER_HIGH_GAIN_SOLUTION
if (oscillationAmplitude > AUTOTUNE_MAX_OSCILLATION_ANGLE) {
// we have too much oscillation, so we can't increase D, so decrease P
#endif
pid.p *= AUTOTUNE_DECREASE_MULTIPLIER;
#ifdef PREFER_HIGH_GAIN_SOLUTION
} else {
// we don't have too much oscillation, so we can increase D
#endif
pid.d *= AUTOTUNE_INCREASE_MULTIPLIER;
#ifdef PREFER_HIGH_GAIN_SOLUTION
}
#else
pid.p *= AUTOTUNE_DECREASE_MULTIPLIER;
pid.d *= AUTOTUNE_INCREASE_MULTIPLIER;
#endif
} else {
// undershot