From 6c2c60121f7b2f0bbc5eb6e2279bba4e9f7973cb Mon Sep 17 00:00:00 2001 From: zaenbfi26-tech Date: Thu, 16 Apr 2026 12:41:22 +0700 Subject: [PATCH] Modify PID constants for improved performance Updated PID constants for tuning parameters. --- Silverware/src/pid.c | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/Silverware/src/pid.c b/Silverware/src/pid.c index 49bffb1c..284bd692 100644 --- a/Silverware/src/pid.c +++ b/Silverware/src/pid.c @@ -66,10 +66,12 @@ 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 }; +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 }; //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 // set TORQUE_BOOST to 1.0, and add #define THROTTLE_TRANSIENT_COMPENSATION and #define THROTTLE_TRANSIENT_COMPENSATION_FACTOR 4.0