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herolic / aeroquad

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Call of PID(); #104

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
Call of the PID function for each sensor should be done at the time where the 
sensor measure() function is carried out, and not free running in the 
flightControl() loop.

This will ensure correct timing for each sensor and go much better along with 
the SI-fication.

Original issue reported on code.google.com by k.henrik...@gmail.com on 13 Feb 2011 at 4:06

GoogleCodeExporter commented 9 years ago 
We can look at this closer, control systems can typically have sensor 
measurements much faster than PID.  PID was offset from sensor measurements to 
not block whole loop.  Let's examine to see if we really need to improve this.

Original comment by CaranchoEngineering@gmail.com on 14 Feb 2011 at 8:08

GoogleCodeExporter commented 9 years ago 
Yes, sensors can (or even should?) be sampled in a higher frequency than PID is 
called, but not the other way for example with the altitude hold. Then the 
sensor is sampled in 20Hz (about) but calling PID for that sensor in 300Hz 
(about). That can't be right. D term of barometer should correspond to m/s 
(although noisy perhaps).

Original comment by k.henrik...@gmail.com on 14 Feb 2011 at 3:43

GoogleCodeExporter commented 9 years ago

Original comment by CaranchoEngineering@gmail.com on 25 Jun 2011 at 4:34