From e98c963925128c0c9fece8079400eb350357782e Mon Sep 17 00:00:00 2001 From: zaenbfi26-tech Date: Thu, 16 Apr 2026 09:41:42 +0700 Subject: [PATCH] Modify PID coefficients for improved performance Updated PID values for tuning. --- Silverware/src/pid.c | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/Silverware/src/pid.c b/Silverware/src/pid.c index 49bffb1c..3aaac9d9 100644 --- a/Silverware/src/pid.c +++ b/Silverware/src/pid.c @@ -66,9 +66,9 @@ float stickTransitionProfileB[3] = { 0.3 , 0.3 , 0.0}; //keep values //6mm & 7mm Abduction Pids for whoops (Team Alienwhoop)- set filtering ALIENWHOOP_ZERO_FILTERING or default beta filters // ROLL PITCH YAW -float pidkp[PIDNUMBER] = {21.5e-2 , 21.5e-2 , 10.5e-1 }; -float pidki[PIDNUMBER] = { 14e-1 , 15e-1 , 15e-1 }; -float pidkd[PIDNUMBER] = { 7.4e-1 , 7.4e-1 , 5.5e-1 }; +//float pidkp[PIDNUMBER] = {21.5e-2 , 21.5e-2 , 10.5e-1 }; +//float pidki[PIDNUMBER] = { 14e-1 , 15e-1 , 15e-1 }; +//float pidkd[PIDNUMBER] = { 7.4e-1 , 7.4e-1 , 5.5e-1 }; //BOSS 7 with 716 motors and 46mm Props - set filtering to BETA_FILTERING and adjust pass 1 and pass 2 for KALMAN_GYRO both to 70hz, set DTERM_LPF_2ND_HZ to 120hz, disable motor filtering @@ -119,10 +119,9 @@ float pidkd[PIDNUMBER] = { 7.4e-1 , 7.4e-1 , 5.5e-1 }; //*********************************Saved Initial PIDs**************************************** -float pidkp_init[PIDNUMBER] = { 0, 0, 0 }; -float pidki_init[PIDNUMBER] = { 0, 0, 0 }; -float pidkd_init[PIDNUMBER] = { 0, 0, 0 }; - +float pidkp[PIDNUMBER] = { 12.0e-2 , 12.0e-2 , 8.0e-2 }; +float pidki[PIDNUMBER] = { 12.0e-1 , 12.0e-1 , 8.0e-1 }; +float pidkd[PIDNUMBER] = { 4.5e-1 , 4.5e-1 , 1.5e-1 }; //************************************Setpoint Weight & Limits******************************** #ifdef BRUSHLESS_TARGET