search

PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
8.6k stars 13.56k forks source link

MC_<X>RATE_P min and max values #22170

Open lazar2222 opened 1 year ago

lazar2222 commented 1 year ago

Describe the bug

As per Multicopter PID Tuning Guide (Manual/Advanced) i was trying to set pid controller to use Standard form.

Documentation says Users can select the form that is used by setting the proportional gain for the other form to "1" (i.e. in the diagram below set K to 1 for the parallel form, or P to 1 for the standard form - this will replace either the K or P blocks with a line)., so i wanted to set P to 1, but MC_ROLLRATE_P and similar parameters have max limit that is less than one ([0.01, 0.5] (0.01)).

To Reproduce

  1. Connect to multicopter
  2. Set MC_ROLLRATE_P to 1
  3. Error parameter not within limits

Expected behavior

Set MC_ROLLRATE_P is set to 1 and saved

Screenshot / Media

No response

Flight Log

N/A

Software Version

1.13.1

Flight controller

Pixhawk 4

Vehicle type

Hybrid VTOL

How are the different components wired up (including port information)

No response

Additional context

No response

bresch commented 1 year ago

@lazar2222 Thanks for reporting this. I made a fix here: https://github.com/PX4/PX4-Autopilot/pull/22353 In the meantime, you can force set the P gain to 1.0 in QGC (even if the limit is set to 0.5 in software).