temple/caero-attitude-control
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chage altitude PIDs

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templeofshadow
2026-06-29 22:02:52 -05:00
parent 68a3f4589b
commit 92988ac4f5
1 changed files with 3 additions and 2 deletions
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5
main.lua
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@@ -888,7 +888,7 @@ PIDs = {
ForeAftPID = CreatePID(0.1, 0.01, 0.05),
-- rate PIDs
VerticalRatePID = CreatePID(0.1, 0.01, 0.05),
VerticalRatePID = CreatePID(1.2, 0.01, 0.05),
PortStarRatePID = CreatePID(0.1, 0.01, 0.05),
ForeAftRatePID = CreatePID(0.1, 0.01, 0.05)
}
@@ -905,7 +905,8 @@ function UpdateGlobalThrust()
return
end
local throttleOutput = PIDs.AltitudePID:update(Config.Autopilot.AutopilotDesiredAltitude or 0, SensorData.Altitude.Altitude or 0, dt)
local AltitudeRateOutput = PIDs.VerticalRatePID:update(Config.Autopilot.AutopilotDesiredAltitude, SensorData.Altitude.Altitude, dt)
local throttleOutput = PIDs.AltitudePID:update(AltitudeRateOutput, SensorData.Altitude.VerticalSpeed, dt)
local pitchOutput = PIDs.PitchAttitudePID:update(0, SensorData.Gimbal.Angles.xAngle, dt)
local pitchRateOutput = PIDs.PitchRatePID:update(pitchOutput, SensorData.Gimbal.AngularRates.wx or 0, dt)