Can anyone tell me what happened to the D in the AC2 configuration
screen? It was there a few weeks ago but in the last few updates it is gone. I
have attached two screen shots illustrating what I am asking. The
"newest" file reflects the latest download screenshot while the Randy
file is taken from a presentation Randy did in the Traditional Helicopter
section a few weeks ago (still listed in the wiki). I suspect I just missed
this piece of news somewhere along the line, but can't find any reference to it
anywhere. 

 

Mike

Newest.jpg

Randy's.png

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  • For some reason I got the images reversed. The file named "Randy’s.png" should have been newest and vice a versa.  Just so it is clear, the "Randy's.png" image represents what the Mission Planner now looks like while the "Newest.jpg" was taken from Randy's discussion in the Wiki. Sorry for the mix-up.

  • Developer

    Ok, I know what's happened here.  I believe Jason modified the control loop so that instead of Stabilize mode having it's own PID controller, it now has a nested control which makes use of the Acro's contoller.

     

    So Stabilize controls the angle (i.e. compares the angle of the copter to what the human operator or autopilot wants) and then passes a desired change of rate to the ACRO controller which then uses the ACRO PI values to update the motors (or servos in the case of a heli).

     

    I think this means that Stabilise's D value has become the ACRO P value.  There was probably never any need for a D for acro mode so we haven't lost anything there.

     

    Re the trad heli in particular, I haven't tested it under the new configuration so I'll try and do that this weekend.

     

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