27-Dec-2017, 02:39 PM
Hi,
I'm new to tuning and I'm having trouble understanding what I'm seeing in my blackbox log. I'm not totally unfamiliar with control theory (from college) though which is why the part of the from the image below seems strange to me:
Can someone explain to me why the P-Part would dip into the wrong direction here? From my understanding, it should be directly proportional to the PID_Error above and always have the oppsite sign as PID_P(t) = -K_p * e(t). Is there anything special going on in the cleanflight controllers, such as filters or something?
I have attached the full blackbox log and variable dump below.
Besides any info on the above I'm of course also glad for any tips regarding the tune of the copter.
Thanks,
w0_op
I'm new to tuning and I'm having trouble understanding what I'm seeing in my blackbox log. I'm not totally unfamiliar with control theory (from college) though which is why the part of the from the image below seems strange to me:
Can someone explain to me why the P-Part would dip into the wrong direction here? From my understanding, it should be directly proportional to the PID_Error above and always have the oppsite sign as PID_P(t) = -K_p * e(t). Is there anything special going on in the cleanflight controllers, such as filters or something?
I have attached the full blackbox log and variable dump below.
Besides any info on the above I'm of course also glad for any tips regarding the tune of the copter.
Thanks,
w0_op