PID conversion from pre 1.2 to 1.2

Paweł Spychalski edited this page Jul 21, 2016 · 4 revisions

With INAV 1.2, PID scaling and default values has changed to match Cleanflight/Betaflight LuxFloat and MWRewrite PID controllers.

When migrating from pre 1.2 to 1.2, use following conversion:

ROLL/PICH/YAW

INAV 1.2 P_gain = Pre_1.2_P_gain / 1.3

INAV 1.2 I_gain = Pre_1.2_I_gain / 2.5

INAV 1.2 D_gain = Pre_1.2_D_gain / 2.1

LEVEL

INAV 1.2 LEVEL P = Pre_1.2_LEVEL_P / 6.1

Level I (LowPassFilter cutoff frequency) and D (Horizon transition point) did not changed.

Or use this Google Docs spreadsheet to recompute tune from INAV 1.1

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