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Remove duplicated parameters in the 4.3.8 version
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vehicle_examples/diatone_taycan_mxc/4.3.8-params/14_pid_adjustment.param
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,186 +1,76 @@ | ||
| ATC_RAT_PIT_D,0.003334 # = 0.925972 * (0.0036 default) | ||
| ATC_RAT_PIT_I,0.173229 # = 1.283176 * (0.135 default) | ||
| ATC_RAT_PIT_P,0.173229 # = 1.283176 * (0.135 default) | ||
| ATC_RAT_RLL_D,0.002486 # = 0.690593 * (0.0036 default) | ||
| ATC_RAT_RLL_I,0.143237 # = 1.061015 * (0.135 default) | ||
| ATC_RAT_RLL_P,0.143237 # = 1.061015 * (0.135 default) | ||
| ATC_RAT_YAW_D,0 # = 1 * (0 default) | ||
| # Pitch axis rate controller D gain | ||
| # Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual | ||
| # pitch rate | ||
| # Range: 0.0 0.03 | ||
| # Increment: 0.001 | ||
| # Default: 0.0036 | ||
| ATC_RAT_PIT_D,0.003334 # = 0.925972 * (0.0036 default) | ||
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| # Pitch axis rate controller I gain | ||
| # Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch | ||
| # rate | ||
| # Range: 0.0 0.6 | ||
| # Increment: 0.01 | ||
| # Default: 0.135 | ||
| ATC_RAT_PIT_I,0.173229 # = 1.283176 * (0.135 default) | ||
| # If you have a very small, or a very large vehicle that requires non-default PID values for a safe flight, change them here | ||
| # | ||
| # Usually, smaller vehicles require lower than default PID rate values. | ||
| # Larger vehicles usually require higher than default PID rate values. | ||
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| # Pitch axis rate controller P gain | ||
| # Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch | ||
| # rate into a motor speed output | ||
| # Range: 0.0 0.35 | ||
| # Increment: 0.005 | ||
| # Default: 0.135 | ||
| ATC_RAT_PIT_P,0.173229 # = 1.283176 * (0.135 default) | ||
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||
| # Roll axis rate controller D gain | ||
| # Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll | ||
| # rate | ||
| # Range: 0.0 0.03 | ||
| # Increment: 0.001 | ||
| # Default: 0.0036 | ||
| ATC_RAT_RLL_D,0.002486 # = 0.690593 * (0.0036 default) | ||
|
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||
| # Roll axis rate controller I gain | ||
| # Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate | ||
| # Range: 0.0 0.6 | ||
| # Increment: 0.01 | ||
| # Default: 0.135 | ||
| ATC_RAT_RLL_I,0.143237 # = 1.061015 * (0.135 default) | ||
|
|
||
| # Roll axis rate controller P gain | ||
| # Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate | ||
| # into a motor speed output | ||
| # Range: 0.0 0.35 | ||
| # Increment: 0.005 | ||
| # Default: 0.135 | ||
| ATC_RAT_RLL_P,0.143237 # = 1.061015 * (0.135 default) | ||
|
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||
| # Yaw axis rate controller D gain | ||
| # Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw | ||
| # rate | ||
| # Range: 0.000 0.02 | ||
| # Increment: 0.001 | ||
| # Default: 0 | ||
| ATC_RAT_YAW_D,0 # = 1 * (0 default) | ||
|
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||
| # Pitch axis rate controller D gain | ||
| # Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual | ||
| # pitch rate | ||
| # Range: 0.0 0.03 | ||
| # Increment: 0.001 | ||
| # Default: 0.0036 | ||
| ATC_RAT_PIT_D,0.003334 # = 0.925972 * (0.0036 default) | ||
|
|
||
| # Pitch axis rate controller I gain | ||
| # Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch | ||
| # rate | ||
| # Range: 0.0 0.6 | ||
| # Increment: 0.01 | ||
| # Default: 0.135 | ||
| ATC_RAT_PIT_I,0.173229 # = 1.283176 * (0.135 default) | ||
|
|
||
| # Pitch axis rate controller P gain | ||
| # Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch | ||
| # rate into a motor speed output | ||
| # Range: 0.0 0.35 | ||
| # Increment: 0.005 | ||
| # Default: 0.135 | ||
| ATC_RAT_PIT_P,0.173229 # = 1.283176 * (0.135 default) | ||
|
|
||
| # Roll axis rate controller D gain | ||
| # Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll | ||
| # rate | ||
| # Range: 0.0 0.03 | ||
| # Increment: 0.001 | ||
| # Default: 0.0036 | ||
| ATC_RAT_RLL_D,0.002486 # = 0.690593 * (0.0036 default) | ||
|
|
||
| # Roll axis rate controller I gain | ||
| # Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate | ||
| # Range: 0.0 0.6 | ||
| # Increment: 0.01 | ||
| # Default: 0.135 | ||
| ATC_RAT_RLL_I,0.143237 # = 1.061015 * (0.135 default) | ||
|
|
||
| # Roll axis rate controller P gain | ||
| # Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate | ||
| # into a motor speed output | ||
| # Range: 0.0 0.35 | ||
| # Increment: 0.005 | ||
| # Default: 0.135 | ||
| ATC_RAT_RLL_P,0.143237 # = 1.061015 * (0.135 default) | ||
|
|
||
| # Yaw axis rate controller D gain | ||
| # Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw | ||
| # rate | ||
| # Range: 0.000 0.02 | ||
| # Increment: 0.001 | ||
| # Default: 0 | ||
| ATC_RAT_YAW_D,0 # = 1 * (0 default) | ||
|
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||
| # Pitch axis rate controller D gain | ||
| # Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual | ||
| # pitch rate | ||
| # Range: 0.0 0.03 | ||
| # Increment: 0.001 | ||
| # Default: 0.0036 | ||
| ATC_RAT_PIT_D,0.003334 # = 0.925972 * (0.0036 default) | ||
| ATC_RAT_PIT_D,0.003334 # = 0.925972 * (0.0036 default) | ||
|
|
||
| # Pitch axis rate controller I gain | ||
| # Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch | ||
| # rate | ||
| # Range: 0.0 0.6 | ||
| # Increment: 0.01 | ||
| # Default: 0.135 | ||
| ATC_RAT_PIT_I,0.173229 # = 1.283176 * (0.135 default) | ||
| ATC_RAT_PIT_I,0.173229 # = 1.283176 * (0.135 default) | ||
|
|
||
| # Pitch axis rate controller P gain | ||
| # Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch | ||
| # rate into a motor speed output | ||
| # Range: 0.0 0.35 | ||
| # Increment: 0.005 | ||
| # Default: 0.135 | ||
| ATC_RAT_PIT_P,0.173229 # = 1.283176 * (0.135 default) | ||
| ATC_RAT_PIT_P,0.173229 # = 1.283176 * (0.135 default) | ||
|
|
||
| # Roll axis rate controller D gain | ||
| # Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll | ||
| # rate | ||
| # Range: 0.0 0.03 | ||
| # Increment: 0.001 | ||
| # Default: 0.0036 | ||
| ATC_RAT_RLL_D,0.002486 # = 0.690593 * (0.0036 default) | ||
| ATC_RAT_RLL_D,0.002486 # = 0.690593 * (0.0036 default) | ||
|
|
||
| # Roll axis rate controller I gain | ||
| # Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate | ||
| # Range: 0.0 0.6 | ||
| # Increment: 0.01 | ||
| # Default: 0.135 | ||
| ATC_RAT_RLL_I,0.143237 # = 1.061015 * (0.135 default) | ||
| ATC_RAT_RLL_I,0.143237 # = 1.061015 * (0.135 default) | ||
|
|
||
| # Roll axis rate controller P gain | ||
| # Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate | ||
| # into a motor speed output | ||
| # Range: 0.0 0.35 | ||
| # Increment: 0.005 | ||
| # Default: 0.135 | ||
| ATC_RAT_RLL_P,0.143237 # = 1.061015 * (0.135 default) | ||
| ATC_RAT_RLL_P,0.143237 # = 1.061015 * (0.135 default) | ||
|
|
||
| # Yaw axis rate controller D gain | ||
| # Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw | ||
| # rate | ||
| # Range: 0.000 0.02 | ||
| # Increment: 0.001 | ||
| # Default: 0 | ||
| ATC_RAT_YAW_D,0 # = 1 * (0 default) | ||
| ATC_RAT_YAW_D,0 # = 1 * (0 default) | ||
|
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||
| # Yaw axis rate controller I gain | ||
| # Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate | ||
| # Range: 0.01 0.2 | ||
| # Increment: 0.01 | ||
| # Default: 0.018 | ||
| ATC_RAT_YAW_I,0.045252 # = 2.514026 * (0.018 default) | ||
| ATC_RAT_YAW_I,0.045252 # = 2.514026 * (0.018 default) | ||
|
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||
| # Yaw axis rate controller P gain | ||
| # Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate | ||
| # into a motor speed output | ||
| # Range: 0.180 0.60 | ||
| # Increment: 0.005 | ||
| # Default: 0.18 | ||
| ATC_RAT_YAW_P,0.452525 # = 2.514026 * (0.18 default) | ||
| ATC_RAT_YAW_P,0.452525 # = 2.514026 * (0.18 default) |