Hi,
There are a lot of aspects in this thread.
So let's try to isolate things.
1) PITCH/ROLL acro PID update:
- PID coef must not have impact on stick scalling, OK
- cycleTime should be included in I and D Term computation. Does it really have a noticeable effect on flight performance ? For sure it has a noticeable effect on computation time.
- D component doesn't take into account stick position at all. Again, from wiki link: “In most commercial control systems, derivative action is based on PV rather than error.”. Does it really have a noticeable effect on flight performance to take error rather than PV in the equation ?
- 32bit implementation for I term: Does it really have a noticeable effect on flight performance ?
2) YAW PID update:
I think 32bit Ierror term is interresting not to gain more accuracy (from a flight performance point of view), but to gain more windup.
Is there any other approach to counter the yaw jump effect ?
3) ANGLE/HORIZON mode update
I think Horizon mode (relativly new) have good feedback so far, but why not update it
If feedbacks on it are better.
4) wrong MPU scale:
it was reported by ovaltineo
viewtopic.php?f=8&t=3480 and is corrected in _shared
It affects mainly angle calculation after many flips. Nothing to do with PID.
5) versions:
There is no 2.21 version.
The last official version is 2.2.
All other variant after are just dev version for testing purpose based on _shared repository.
And sometimes I create a zip of intermediate dev versions
6) the deal with SVN update
There are few committers that can update it, based on what they think useful.
The best way to suggest evolution is what you did: explain the mod in the forum, share a zip code and get feedbacks.
7) why so many compromises on the code ?
Because it's always a challenge to keep computation time and code size low. More than a challenge, it's also for me a fun way of coding.
I understand it could be disturbing from a theory or coder point of view.
which tools do I need for example to update all the releases up to r1474
You only need to get the last r1474 files.
Snap back to level was much better than what I've seen in multiwii so far.
Did you try to increase LEVEL P with the stock code ?