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increase the angle "strength" its a pterm for the attitude controller. If that doesn't work you might be able to try messing with servo limits in the cli. If you had to you could modify the code to change your servo limits to fit better what you need, or modify the pterm to allow for higher values, but I'd be wary of that, I would think that the angle "strength" would be better than lots of changes to the rate controller pterm. good luck. |
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Hello everyone,
I am using Betaflight for a custom project where attitude changes in our device are apparently much smaller than that of what is considered default for the standard FPV/drone example.
Stabilized roll is being used to control a servo and upright an inverted pendulum (more or less) but I find that the signal being sent to the servo is not large enough for the given attitude change. Remote controlled (manually controlled) tests have shown that the actuator is capable of providing enough of an up-righting force.
When using stabilized roll to control the lean of the pendulum, given the relatively small changes in attitude of our device compared to a drone, the servo signal is too small within the available range to elicit the up-righting response available if actuated manually. For example, the PWM signal to the servo might be 1600 when we might need it to be 1900 for a given angle change.
Given that background story, where would be the best place, in the Betaflight codebase, to increase the output signal given a change in attitude?
I'd like to note that we've already maxed out the P-term in the PID controller, which did initially help increase the response, but we need a larger response for a given change in attitude.
Thank you in advance,
Dario
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