From 2c5c96c1ba663355f0709d47b3caf5705a5bdfdc Mon Sep 17 00:00:00 2001 From: "Dr.-Ing. Amilcar do Carmo Lucas" Date: Tue, 2 Apr 2024 17:59:15 +0200 Subject: [PATCH] Remove duplicated parameters in the 4.3.8 version --- .../4.3.8-params/14_pid_adjustment.param | 136 ++---------------- 1 file changed, 13 insertions(+), 123 deletions(-) diff --git a/vehicle_examples/diatone_taycan_mxc/4.3.8-params/14_pid_adjustment.param b/vehicle_examples/diatone_taycan_mxc/4.3.8-params/14_pid_adjustment.param index 3a95fe0..97c4756 100644 --- a/vehicle_examples/diatone_taycan_mxc/4.3.8-params/14_pid_adjustment.param +++ b/vehicle_examples/diatone_taycan_mxc/4.3.8-params/14_pid_adjustment.param @@ -1,119 +1,9 @@ -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) - -# 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. -# 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) - -# 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) # Pitch axis rate controller D gain # Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual @@ -121,7 +11,7 @@ ATC_RAT_YAW_D,0 # = 1 * (0 default) # 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 @@ -129,7 +19,7 @@ ATC_RAT_PIT_D,0.003334 # = 0.925972 * (0.0036 default) # 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 @@ -137,7 +27,7 @@ ATC_RAT_PIT_I,0.173229 # = 1.283176 * (0.135 default) # 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 @@ -145,14 +35,14 @@ ATC_RAT_PIT_P,0.173229 # = 1.283176 * (0.135 default) # 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 @@ -160,7 +50,7 @@ ATC_RAT_RLL_I,0.143237 # = 1.061015 * (0.135 default) # 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 @@ -168,14 +58,14 @@ ATC_RAT_RLL_P,0.143237 # = 1.061015 * (0.135 default) # 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) # 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) # Yaw axis rate controller P gain # Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate @@ -183,4 +73,4 @@ ATC_RAT_YAW_I,0.045252 # = 2.514026 * (0.018 default) # 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)