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Includes the following: Increase Autotune Limits Low Rate_P_Max prevents correct Rate_D prediction. make adjustment proportional increase the maximum value of Rate_P adjustment for zero overshoot Speed up autotune Reduce D bounce back requirement adapt matthewlloyd's switching Includes many enhancements to the basic code but doesn't bring in his speed up ideas Reduce Stab P down Add Calibration Repeat side to increase speed Update Autotune PI ratios fixup comments autotune incorporate aggressiveness parameter sets max accel for roll, pitch, yaw Update accel calc and set Yaw D to zero Calculate Accel correctly on SP Limit Send saved gains msg to GCS updates PID filter increase accel backoff save max accel if rate feedfwd enabled keep stabilizingmaster
Leonard Hall
10 years ago
committed by
Randy Mackay
1 changed files with 742 additions and 352 deletions
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