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Convert XY VEL TO ACC controller to use feed forward component #4326

Merged
merged 6 commits into from
Mar 9, 2019
Merged

Convert XY VEL TO ACC controller to use feed forward component #4326

merged 6 commits into from
Mar 9, 2019

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DzikuVx
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@DzikuVx DzikuVx commented Feb 7, 2019

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@DzikuVx DzikuVx added this to the Future milestone Feb 7, 2019
@DzikuVx DzikuVx modified the milestones: Future, 2.2 Feb 22, 2019
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DzikuVx commented Feb 22, 2019

First flights over, nothing wrong happened:

image

conclusions:

  • it's not visible in the beginning but it indeed prevents Iterm from winding up in forward flight
  • FFgain of around 0.5 seems to be working just fine
  • expo on FFgain might be required

LOG00007.TXT

@DzikuVx DzikuVx mentioned this pull request Feb 22, 2019
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@DzikuVx DzikuVx force-pushed the convert-NAV-PID-controller-for-PIDFF branch from 7a489c6 to 4ece488 Compare March 8, 2019 18:28
@DzikuVx DzikuVx force-pushed the convert-NAV-PID-controller-for-PIDFF branch from 4ece488 to ed50661 Compare March 8, 2019 21:48
@DzikuVx DzikuVx merged commit c64a63b into development Mar 9, 2019
@DzikuVx DzikuVx deleted the convert-NAV-PID-controller-for-PIDFF branch March 9, 2019 08:22
ThomasDavid0 pushed a commit to ThomasDavid0/inav that referenced this pull request May 12, 2019
@DzikuVx
Convert XY VEL TO ACC controller to use feed forward component (iNavF…
1de7677 
…light#4326)

* modify navPidApply3 to use linear FF component

* store FF component in BB log

* Make VEL_XY FF component configurable

* change scaling for PID_VEL_XY FF component

* MSP2_PID frame to setup FF component

* Set default VEL XY FF to 40
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