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QUB-ASL / bzzz

Quadcopter with ESP32 and RaspberryPi
MIT License
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Update maximum attitude gains from trimmers and attitude gains #185

Closed jamie-54 closed 5 months ago

jamie-54 commented 5 months ago

Main Changes

Changed the main.cpp to use the trimmers to set the attitude gains Updated the max angular velocity gains Updated the hard set angular velocity gains

Associated Issues

Tests

This has been tested on the Quadcopter when flying manually and not using altitude hold. The altitude hold also uses the trimmers so maybe we would be better hard setting these values again? What's your thoughts

ejb-11 commented 5 months ago

Was this intended to fix the weird bouncing behaviour in altitude-hold mode?

alphaville commented 5 months ago

@ejb-11, no, here @jamie-54 fine-tuned the attitude controller.

jamie-54 commented 5 months ago

Was this intended to fix the weird bouncing behaviour in altitude-hold mode?

No but we should make an issue for that, this is for the attitude gains the quadcopter used to vibrate because the angular velocity gain was too high on the new quadcopter. We can now use the trimmers on the remote to tune the attitude controller