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AP_Control: change autotune I determination for Roll axis #21027

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Jul 25, 2022
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AP_Control: change autotune I determination for Roll axis #21027

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6 changes: 5 additions & 1 deletion libraries/APM_Control/AP_AutoTune.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -415,7 +415,11 @@ void AP_AutoTune::update(AP_PIDInfo &pinfo, float scaler, float angle_err_deg)
rpid.ff().set(FF);
rpid.kP().set(P);
rpid.kD().set(D);
rpid.kI().set(MAX(P*AUTOTUNE_I_RATIO, (FF / TRIM_TCONST)));
if (type == AUTOTUNE_ROLL) { // for roll set I = smaller of FF or P
rpid.kI().set(MIN(P, (FF / TRIM_TCONST)));
} else { // for pitch/yaw naturally damped axes) set I usually = FF to get 1 sec I closure
rpid.kI().set(MAX(P*AUTOTUNE_I_RATIO, (FF / TRIM_TCONST)));
}

// setup filters to be suitable for time constant and gyro filter
rpid.filt_T_hz().set(10.0/(current.tau * 2 * M_PI));
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