Flight - New default PIDs for navigation

[digitalentity]

Need to get some sane defaults for NAV_ALTHOLD PIDs - PIDALT & PIDVEL

[digitalentity]

These values seem to work very well on a 450 sized 1kg quadcopter.
PIDALT: P=0.4
PIDVEL: P=3.8, I=0.006, D=4

[digitalentity]

This issue should address all navigation related PIDs: PIDALT, PIDVEL, PIDPOS, PIDPOSR, PIDNAVR.

[bk79]

@digitalentity tried yesterday a session with baro althold with default 0.4 but at least on my 500g racers looks like insufficient today I'll test again with 0.7 or maybe 1 on P and 0.002 on I. One of the thing noticed is that as long as I activate the althold I have a small bump in height, this is probably done due to the fact that we have no transaction between rc actual value and the pid output. I think this could be fixed with a transition ramp from during activation of the flight mode

[digitalentity]

@bk79
If possible please try the following PIDs:
ALT: P=1
VEL: P=1 I=0,015 D=4

Or in CLI:
p_alt = 10
i_alt = 0
d_alt = 0

p_vel = 10
i_vel = 15
d_vel = 4

These values come from computer simulation I did yesterday, but I haven't had a chance to flight test them - weather is unflyable, strong wind and rain.

[bk79]

What do you use to simulate it? I want to put in place a simulation
station to try an incremental version of the pid

Il giorno 09:50 gio 30/lug/2015 Konstantin Sharlaimov <
notifications@github.com> ha scritto:

@bk79 https://github.com/bk79
If possible please try the following PIDs:
ALT: P=1
VEL: P=1 I=0,015 D=4

Or in CLI:
p_alt = 10
i_alt = 0
d_alt = 0

p_vel = 10
i_vel = 15
d_vel = 4

These values come from computer simulation I did yesterday, but I haven't
had a chance to flight test them - weather is unflyable, strong wind and
rain.

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[digitalentity]

I've wrote a quick and dirty model of a copter (only linear velocity/movement is calculated, banking angles are treated in an inprecise way, heading is assumed to be 0 deg). After that I integrated my PID code into this model, tried different PID values, and looked at P/I/D, velocity and altitude changes. No HIL simulation yet, sorry.