I was implementing this ROLL & PITCH - PID Tuning in MW2.4 code but I have to say, my implementation may be lame for most of you but I need some help.
ROLL & PITCH - PID Tuning are done using sticks and when disarmed.. sorry but that's all I can do right now. I'm not a C++ guru but I know programming.
YAW LEFT is for ROLL
YAW RIGHT is for PITCH
incrementing the PIDs:
P = ROLL LOW + PITCH HIGH
I = ROLL CENTER + PITCH HIGH
D = ROLL HIGH + PITCH HIGH
decrement the PIDs:
P = ROLL LOW + PITCH LOW
I = ROLL CENTER + PITCH LOW
D = ROLL HIGH + PITCH LOW
so if you want to increase the ROLL P
you have to do this
THROTTLE CENTER + YAW LEFT + ROLL LOW + PITCH HIGH
here's the entire code
Code: Select all
/*
ROLL and PITCH PID tuning when disarmed
THR_HI, THR_LO
YAW_LO, YAW_CE, YAW_HI
ROL_LO, ROL_CE, ROL_HI
PIT_LO, PIT_CE, PIT_HI
*/
uint8_t PID_INC = 1; // this can be moved after the "i" variable
// ROLL PID
// PPPPPPPP
if (rcSticks == THR_CE + YAW_LO + PIT_HI + ROL_LO) // increase P
{
conf.pid[ROLL].P8+=PID_INC;
blinkLED(2,40,1);
i=1;
}
else if (rcSticks == THR_CE + YAW_LO + PIT_LO + ROL_LO) // decrease P
{
conf.pid[ROLL].P8-=PID_INC;
blinkLED(2,40,1);
i=1;
}
// IIIIIIIII
else if (rcSticks == THR_CE + YAW_LO + PIT_HI + ROL_CE) // increase I
{
conf.pid[ROLL].I8+=PID_INC;
blinkLED(2,40,1);
i=1;
}
else if (rcSticks == THR_CE + YAW_LO + PIT_LO + ROL_CE) // decrease I
{
conf.pid[ROLL].I8-=PID_INC;
blinkLED(2,40,1);
i=1;
}
// DDDDDDDDD
else if (rcSticks == THR_CE + YAW_LO + PIT_HI + ROL_HI) // increase D
{
conf.pid[ROLL].D8+=PID_INC;
blinkLED(2,40,1);
i=1;
}
else if (rcSticks == THR_CE + YAW_LO + PIT_LO + ROL_HI) // decrease D
{
conf.pid[ROLL].D8-=PID_INC;
blinkLED(2,40,1);
i=1;
}
// PITCHC PID
// PPPPPPPP
if (rcSticks == THR_CE + YAW_HI + PIT_HI + ROL_LO) // increase P
{
conf.pid[PITCH].P8+=PID_INC;
blinkLED(2,40,1);
i=1;
}
else if (rcSticks == THR_CE + YAW_HI + PIT_LO + ROL_LO) // decrease P
{
conf.pid[PITCH].P8-=PID_INC;
blinkLED(2,40,1);
i=1;
}
// IIIIIIIII
else if (rcSticks == THR_CE + YAW_HI + PIT_HI + ROL_CE) // increase I
{
conf.pid[PITCH].I8+=PID_INC;
blinkLED(2,40,1);
i=1;
}
else if (rcSticks == THR_CE + YAW_HI + PIT_LO + ROL_CE) // decrease I
{
conf.pid[PITCH].I8-=PID_INC;
blinkLED(2,40,1);
i=1;
}
// DDDDDDDDD
else if (rcSticks == THR_CE + YAW_HI + PIT_HI + ROL_HI) // increase D
{
conf.pid[PITCH].D8+=PID_INC;
blinkLED(2,40,1);
i=1;
}
else if (rcSticks == THR_CE + YAW_HI + PIT_LO + ROL_HI) // decrease D
{
conf.pid[PITCH].D8-=PID_INC;
blinkLED(2,40,1);
i=1;
}
/*PID tuning end */my problem right now is, the only thing that is working there is decreasing the I and D and I am not about the other problem I am having but I know the stick command is correct.
So here's what is working (FOR ME)
THR_CE + YAW_LO + PIT_LO + ROL_LO = decreases the ROLL I -- This is wrong, it should decrement the P .. not sure what's going on
THR_CE + YAW_LO + PIT_LO + ROL_CE = decreases the ROLL I -- This is correct
THR_CE + YAW_LO + PIT_LO + ROL_HI = decreases the ROLL D -- This is correct
THR_CE + YAW_HI + PIT_LO + ROL_LO = decreases the PITCH I -- This is wrong, it should decrement the P .. not sure what's going on
THR_CE + YAW_HI + PIT_LO + ROL_CE = decreases the PITCH I -- This is correct
THR_CE + YAW_HI + PIT_LO + ROL_HI = decreases the PITCH D -- This is correct
and all other stick commands regarding PID tuning doesnt work.
Please help?