From b5ec9cd5bf9fae607a360f79645d131fd3f0cd9d Mon Sep 17 00:00:00 2001 From: ctzsnooze Date: Sat, 31 Aug 2019 12:59:51 +1000 Subject: [PATCH] Increase iTerm defaults slightly for 4.1 The feed forward changes in 4.1 will bring, to all quads of reasonable control authority, reduced setpoint to gyro delay and less error. iTerm will tend to accumulate less during fast inputs so there will be less of a problem with iTerm-windup and iTerm related bounce-back. Higher I values lead to better control during tight turns and greater stability in wind. Higher I doesn't increase the absolute amount of iTerm accumulating in the PID loop, but does allow it to change more quickly and to more quickly zero out the residual errors that are strong in tight turns. I think this modest increase will optimise performance of the default 4.1 PIDs for most quads. Lower authority quads will need to either reduce their I setting, or, preferably, lower the iterm_relax value to 10 or even 5, to avoid wind-up. --- src/main/flight/pid.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index 5c9c135d7..607848be5 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -136,9 +136,9 @@ void resetPidProfile(pidProfile_t *pidProfile) { RESET_CONFIG(pidProfile_t, pidProfile, .pid = { - [PID_ROLL] = { 42, 60, 35, 70 }, - [PID_PITCH] = { 46, 70, 38, 75 }, - [PID_YAW] = { 30, 80, 0, 70 }, + [PID_ROLL] = { 42, 85, 35, 70 }, + [PID_PITCH] = { 46, 90, 38, 75 }, + [PID_YAW] = { 30, 90, 0, 70 }, [PID_LEVEL] = { 50, 50, 75, 0 }, [PID_MAG] = { 40, 0, 0, 0 }, }, -- 2.11.4.GIT