Pitch up after fast flight or windgusts

Post Reply
User avatar
Plüschi
Posts: 433
Joined: Thu Feb 21, 2013 6:09 am

Pitch up after fast flight or windgusts

Post by Plüschi »

Is the pitch-up when releasing stick after fast forward, or with wind gusts, preventable with a higher pid-I gain or does that have other causes? This happens in angle and horizon, not in acro.

Alexinparis
Posts: 1630
Joined: Wed Jan 19, 2011 9:07 pm

Re: Pitch up after fast flight or windgusts

Post by Alexinparis »

I don't think a PID setting can correct this.
It it due to the way the IMU estimate angle from ACC & GYRO.

During a fast forward translation, the ACC does not indicate the right earth magnitude.
This vector is however used to estimate the level.
there is some hack in the code to try to eliminate this effect:
// If accel magnitude >1.15G or <0.85G and ACC vector outside of the limit range => we neutralize the effect of accelerometers in the angle estimation.
But it's not always efficient.

The best way is lower this effect is probably to increase the Gyro Weight for Gyro/Acc complementary filter (GYR_CMPF_FACTOR 600 by default) to something like 1500.

Post Reply