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iNavFlight / inav

INAV: Navigation-enabled flight control software
https://inavflight.github.io
GNU General Public License v3.0
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When I use angle mode during idle, the PID doesn't work #9938

Closed yxc407 closed 4 months ago

yxc407 commented 4 months ago

Why when I use angle mode during idle, the PID doesn't work and I can't use pitch, roll, and yaw for control? But when I use althold mode during idle, the PID does work?I use multicopter.

b14ckyy commented 4 months ago

Enable AIRMODE. that's exactly for that. image

yxc407 commented 4 months ago

Enable AIRMODE. that's exactly for that. image

However, after enabling AIRMODE, even in angle mode at idle, there is still no PID correction and it cannot be controlled.

yxc407 commented 4 months ago

Enable AIRMODE. that's exactly for that. image

This is in angle mode during idle.

螢幕擷取畫面 2024-04-12 180135

This is in althold mode during idle.

螢幕擷取畫面 2024-04-12 180200
b14ckyy commented 4 months ago

Can you post a video please? What do you mean with IDLE? whent he quad is on the ground sitting the PID controls are supposed to be offline with no throttle. Airmode only kicks in when you throttle up to lift off. This is to prevent a freakout of the quad.

yxc407 commented 4 months ago

Can you post a video please? What do you mean with IDLE? whent he quad is on the ground sitting the PID controls are supposed to be offline with no throttle. Airmode only kicks in when you throttle up to lift off. This is to prevent a freakout of the quad.

This is angle mode, motors idle power. https://github.com/iNavFlight/inav/assets/143247595/c29026e7-1315-4ea5-93f4-699b78d0eb00 This is althold mode, motors idle power. https://github.com/iNavFlight/inav/assets/143247595/637abc1f-4cce-4e61-bedb-1144e36dae20

yxc407 commented 4 months ago

Can you post a video please? What do you mean with IDLE? whent he quad is on the ground sitting the PID controls are supposed to be offline with no throttle. Airmode only kicks in when you throttle up to lift off. This is to prevent a freakout of the quad.

I hope that for quadcopters, during the angle mode when the motors are idling, it can still allow control input and have the PIDs active, similar to how the althold mode works in inav. By idling, I mean when the throttle stick on the radio transmitter is at its lowest position after arming.

DzikuVx commented 4 months ago

To unlock control THROTTLE has to be raised at least once above 20% mark. This is safety measurement to prevent windup before takeoff

yxc407 commented 4 months ago

To unlock control THROTTLE has to be raised at least once above 20% mark. This is safety measurement to prevent windup before takeoff

Lastly, I'd like to ask, if I want to modify it to be like Betaflight where I can control the throttle below 20%, I would need to modify the code instead of adjusting the parameters?