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APM_Control: tweak tuning settings

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This commit is contained in:
Andrew Tridgell 2021-04-03 21:57:12 +11:00
parent ccd7b15d06
commit 7e64875a02
3 changed files with 4 additions and 4 deletions
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4
libraries/APM_Control/AP_AutoTune.cpp
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@ -295,9 +295,9 @@ void AP_AutoTune::update(AP_Logger::PID_Info &pinfo, float scaler)
old_FF*(1-AUTOTUNE_DECREASE_FF_STEP*0.01),
old_FF*(1+AUTOTUNE_INCREASE_FF_STEP*0.01));
// did the P or D components go over 15% of total actuator?
// did the P or D components go over 30% of total actuator?
const float abs_actuator = MAX(max_actuator, fabsf(min_actuator));
const float PD_high = 0.15 * abs_actuator;
const float PD_high = 0.3 * abs_actuator;
bool PD_significant = (max_P > PD_high || max_D > PD_high);
// see if we overshot

2
libraries/APM_Control/AP_PitchController.h
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@ -53,7 +53,7 @@ private:
AP_Float _roll_ff;
uint32_t _last_t;
float _last_out;
AC_PID rate_pid{0.04, 0.15, 0, 0.345, 0.666, 10, 7, 4, 0.02, 100, 1};
AC_PID rate_pid{0.04, 0.15, 0, 0.345, 0.666, 10, 7, 4, 0.02, 150, 1};
AP_Logger::PID_Info _pid_info;

2
libraries/APM_Control/AP_RollController.h
View File

@ -58,7 +58,7 @@ private:
bool failed_autotune_alloc;
uint32_t _last_t;
float _last_out;
AC_PID rate_pid{0.08, 0.15, 0, 0.345, 0.666, 10, 7, 4, 0.02, 100, 1};
AC_PID rate_pid{0.08, 0.15, 0, 0.345, 0.666, 10, 7, 4, 0.02, 150, 1};
AP_Logger::PID_Info _pid_info;