From 9aad5c1f40abaa20782c1fc86dbe9b63665c7ea8 Mon Sep 17 00:00:00 2001 From: Petri Mattila Date: Fri, 10 May 2024 20:33:28 +0100 Subject: [PATCH 1/2] Improve rescue gain and time defaults --- src/main/pg/pid.c | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/src/main/pg/pid.c b/src/main/pg/pid.c index a2da44160b..1450a5f1af 100644 --- a/src/main/pg/pid.c +++ b/src/main/pg/pid.c @@ -98,11 +98,11 @@ void resetPidProfile(pidProfile_t *pidProfile) .trainer.lookahead_ms = 50, .rescue.mode = 0, .rescue.flip_mode = 0, - .rescue.flip_gain = 50, - .rescue.level_gain = 40, - .rescue.pull_up_time = 5, - .rescue.climb_time = 20, - .rescue.flip_time = 10, + .rescue.flip_gain = 200, + .rescue.level_gain = 100, + .rescue.pull_up_time = 3, + .rescue.climb_time = 10, + .rescue.flip_time = 20, .rescue.exit_time = 5, .rescue.pull_up_collective = 650, .rescue.climb_collective = 450, @@ -112,8 +112,8 @@ void resetPidProfile(pidProfile_t *pidProfile) .rescue.alt_i_gain = 20, .rescue.alt_d_gain = 10, .rescue.max_collective = 500, - .rescue.max_setpoint_rate = 250, - .rescue.max_setpoint_accel = 2000, + .rescue.max_setpoint_rate = 300, + .rescue.max_setpoint_accel = 3000, .governor.headspeed = 1000, .governor.gain = 40, .governor.p_gain = 40, From 397f63853c1bef31faf152ab0fcaaa693b032462 Mon Sep 17 00:00:00 2001 From: Petri Mattila Date: Mon, 13 May 2024 11:00:09 +0100 Subject: [PATCH 2/2] Improve baro filtering defaults --- src/main/pg/position.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/pg/position.c b/src/main/pg/position.c index f6e5eb1dd0..ef2c1647cc 100644 --- a/src/main/pg/position.c +++ b/src/main/pg/position.c @@ -29,10 +29,10 @@ PG_REGISTER_WITH_RESET_TEMPLATE(positionConfig_t, positionConfig, PG_POSITION, 0 PG_RESET_TEMPLATE(positionConfig_t, positionConfig, .alt_source = ALT_SOURCE_DEFAULT, - .baro_alt_lpf = 25, + .baro_alt_lpf = 100, .baro_offset_lpf = 5, .gps_alt_lpf = 25, .gps_offset_lpf = 5, .gps_min_sats = 12, - .vario_lpf = 25, + .vario_lpf = 50, );