chore(X500): update the template#1024
Conversation
There was a problem hiding this comment.
Pull Request Overview
This PR updates the PID tuning configuration for the Holybro X500 ArduCopter vehicle template. The changes adjust initial PID gain values and introduce new system identification parameter files for roll, pitch, and yaw axes.
- Updated initial PID gains from 0.896x to 1.2x multiplier of defaults
- Updated remote controller switch mappings for PID tuning workflow
- Added three new system ID parameter files (46_a, 46_b, 46_c) for roll, pitch, and yaw
- Updated tuning report CSV to reflect the new PID values
Reviewed Changes
Copilot reviewed 6 out of 6 changed files in this pull request and generated 4 comments.
Show a summary per file
| File | Description |
|---|---|
| 16_pid_adjustment.param | Updated PID gain multipliers from 0.896x to 1.2x and added line numbers to all parameters |
| 05_remote_controller.param | Remapped RC switches: RC6 to autotune control, RC7 to quicktune trigger, RC8 to motor stop |
| tuning_report.csv | Updated PID values and added missing line numbers for parameter entries |
| 46_a_system_id_roll.param | New file: System identification configuration for roll axis |
| 46_b_system_id_pitch.param | New file: System identification configuration for pitch axis |
| 46_c_system_id_yaw.param | New file: System identification configuration for yaw axis |
| LOG_BITMASK,145119 # attitude sample rate at 400Hz rate | ||
| LOG_DISARMED,0 # was only needed for wind speed estimation | ||
| LOG_REPLAY,0 # was only needed for wind speed estimation | ||
| SID_AXIS,1 # Inject chip on the input roll signal |
There was a problem hiding this comment.
Corrected spelling of 'chip' to 'chirp' in comment. The term 'chirp' refers to the frequency-sweep signal used in system identification.
| SID_AXIS,1 # Inject chip on the input roll signal | |
| SID_AXIS,1 # Inject chirp on the input roll signal |
| LOG_BITMASK,145119 # attitude sample rate at 400Hz rate | ||
| LOG_DISARMED,0 # was only needed for wind speed estimation | ||
| LOG_REPLAY,0 # was only needed for wind speed estimation | ||
| SID_AXIS,2 # Inject chip on the input pitch signal |
There was a problem hiding this comment.
Corrected spelling of 'chip' to 'chirp' in comment. The term 'chirp' refers to the frequency-sweep signal used in system identification.
| SID_AXIS,2 # Inject chip on the input pitch signal | |
| SID_AXIS,2 # Inject chirp on the input pitch signal |
| LOG_BITMASK,145119 # attitude sample rate at 400Hz rate | ||
| LOG_DISARMED,0 # was only needed for wind speed estimation | ||
| LOG_REPLAY,0 # was only needed for wind speed estimation | ||
| SID_AXIS,3 # Inject chip on the input yaw signal |
There was a problem hiding this comment.
Corrected spelling of 'chip' to 'chirp' in comment. The term 'chirp' refers to the frequency-sweep signal used in system identification.
| SID_AXIS,3 # Inject chip on the input yaw signal | |
| SID_AXIS,3 # Inject chirp on the input yaw signal |
| ATC_RAT_RLL_D,0.0036 # = 1 * (0.0036 default) | ||
| ATC_RAT_RLL_I,0.121 # = 0.896 * (0.135 default) | ||
| ATC_RAT_RLL_P,0.121 # = 0.896 * (0.135 default) | ||
| ATC_INPUT_TC,0.2 # It's a small (too fast) copter |
There was a problem hiding this comment.
[nitpick] The comment 'It's a small (too fast) copter' is unclear. Consider revising to explain why a larger time constant (0.2 vs 0.15) is appropriate, e.g., 'Increased time constant for smoother control response on this small, agile copter'.
| ATC_INPUT_TC,0.2 # It's a small (too fast) copter | |
| ATC_INPUT_TC,0.2 # Increased time constant for smoother control response on this small, agile copter |
No description provided.