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H67 Modify PID constants for improved performance #23

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H67 Modify PID constants for improved performance #23

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10 changes: 6 additions & 4 deletions Silverware/src/pid.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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