// @Description: This controls the time constant in seconds from demanded to achieved bank angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve.
// @Description: Time constant in seconds from demanded to achieved roll angle. Most models respond well to 0.5. May be reduced for faster responses, but setting lower than a model can achieve will not help.
// @Description: This is the gain from bank angle error to aileron.
// @Description: Proportional gain from roll angle demands to ailerons. Higher values allow more servo response but can cause oscillations. Automatically set and adjusted by AUTOTUNE mode.
// @Description: This is the gain from roll rate to aileron. This adjusts the damping of the roll control loop. It has the same effect as RLL2SRV_D in the old PID controller but without the spikes in servo demands. This gain helps to reduce rolling in turbulence. It should be increased in 0.01 increments as too high a value can lead to a high frequency roll oscillation that could overstress the airframe.
// @Range: 0 0.1
// @Description: Damping gain from roll acceleration to ailerons. Higher values reduce rolling in turbulence, but can cause oscillations. Automatically set and adjusted by AUTOTUNE mode.
// @Description: This is the gain from the integral of bank angle to aileron. It has the same effect as RLL2SRV_I in the old PID controller. Increasing this gain causes the controller to trim out steady offsets due to an out of trim aircraft.
// @Description: Integrator gain from long-term roll angle offsets to ailerons. Higher values "trim" out offsets faster but can cause oscillations. Automatically set and adjusted by AUTOTUNE mode.
// @Description: This sets the maximum roll rate that the controller will demand (degrees/sec). Setting it to zero disables the limit. If this value is set too low, then the roll can't keep up with the navigation demands and the plane will start weaving. If it is set too high (or disabled by setting to zero) then ailerons will get large inputs at the start of turns. A limit of 60 degrees/sec is a good default.
// @Description: Maximum roll rate that the roll controller demands (degrees/sec) in ACRO mode.
// @Description: This limits the number of degrees of aileron in centi-degrees over which the integrator will operate. At the default setting of 3000 centi-degrees, the integrator will be limited to +- 30 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 2/3rd of the total control throw which is adequate unless the aircraft is severely out of trim.
// @Description: Limit of roll integrator gain in centi-degrees of servo travel. Servos are assumed to have +/- 4500 centi-degrees of travel, so a value of 3000 allows trim of up to 2/3 of servo travel range.
Nathan E
6 years ago
committed by
Tom Pittenger