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

Update PID tuning.md 

small gram fixes
This commit is contained in:
Petr Korolev 2020-08-17 11:10:15 +07:00 committed by GitHub
parent 32e389466c
commit f97f61f005
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 4 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
docs/PID tuning.md
View File

@ -2,13 +2,11 @@
Every aspect of flight dynamics is controlled by the selected "PID controller". This is an algorithm which is responsible for reacting to your stick inputs and keeping the craft stable in the air by using the gyroscopes and/or accelerometers (depending on your flight mode).
The "PIDs" are a set of tuning parameters which control the operation of the PID controller. The optimal PID settings are different on every craft, so if you can't find someone with your exact setup who will share their settings with you, some trial and error is required to find the best performing PID settings.
The "PIDs" is a set of tuning parameters that control the operation of the PID controller. The optimal PID settings are different on every craft, so if you can't find someone with your exact setup who will share their settings with you, some trial and error are required to find the best performing PID settings.
A video on how to recognise and correct different flight problems caused by PID settings is available here:
A video on how to recognise and correct different flight problems caused by PID settings is [available here](https://www.youtube.com/watch?v=YNzqTGEl2xQ).
https://www.youtube.com/watch?v=YNzqTGEl2xQ
Basically, the goal of the PID controller is to bring the craft's rotation rate in all three axes to the rate that 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.
Basically, the goal of the PID controller is to bring the craft's rotation rate in all three axes to the rate that 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.
## PIDs
@ -27,7 +25,7 @@ Basically, the goal of the PID controller is to bring the craft's rotation rate
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 with certain PID controllers. Check the description on the individual controller.
Also, note that TPA and `tpa_breakpoint` may not be used with certain PID controllers. 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.