cleanup + change PID FF

Author: breadoven

docs/Settings.md

@@ -3628,7 +3628,7 @@ FF gain of altitude PID controller. Not used if nav_fw_alt_use_position is set O
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 10 | 0 | 255 |
+| 30 | 0 | 255 |
 
 ---
 

src/main/fc/settings.yaml

@@ -2149,7 +2149,7 @@ groups:
         max: 255
       - name: nav_fw_pos_z_ff
         description: "FF gain of altitude PID controller. Not used if nav_fw_alt_use_position is set ON (Fixedwing)"
-        default_value: 10
+        default_value: 30
         field: bank_fw.pid[PID_POS_Z].FF
         min: 0
         max: 255

src/main/flight/pid.c

@@ -179,7 +179,7 @@ static EXTENDED_FASTRAM bool angleHoldIsLevel = false;
 static EXTENDED_FASTRAM float fixedWingLevelTrim;
 static EXTENDED_FASTRAM pidController_t fixedWingLevelTrimController;
 
-PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 10);
+PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 11);
 
 PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
         .bank_mc = {

src/main/navigation/navigation_fixedwing.c

@@ -147,7 +147,6 @@ static void updateAltitudeVelocityAndPitchController_FW(timeDelta_t deltaMicros)
     // Default control based on climb rate (velocity)
     float targetValue = desiredClimbRate;
     float measuredValue = navGetCurrentActualPositionAndVelocity()->vel.z;
-    pidControllerFlags_e pidFlags = 0;  // PID_DTERM_FROM_ERROR;
 
     // Optional control based on altitude (position)
     if (pidProfile()->fwAltControlUsePos) {
@@ -193,11 +192,10 @@ static void updateAltitudeVelocityAndPitchController_FW(timeDelta_t deltaMicros)
 
         targetValue = desiredAltitude;
         measuredValue = currentAltitude;
-        pidFlags = 0;  // use measurement for D term
     }
 
     // PID controller to translate desired target error (velocity or position) into pitch angle [decideg]
-    float targetPitchAngle = navPidApply2(&posControl.pids.fw_alt, targetValue, measuredValue, US2S(deltaMicros), minDiveDeciDeg, maxClimbDeciDeg, pidFlags);
+    float targetPitchAngle = navPidApply2(&posControl.pids.fw_alt, targetValue, measuredValue, US2S(deltaMicros), minDiveDeciDeg, maxClimbDeciDeg, 0);
 
     // Apply low-pass filter to prevent rapid correction
     targetPitchAngle = pt1FilterApply4(&pitchFilterState, targetPitchAngle, getSmoothnessCutoffFreq(NAV_FW_BASE_PITCH_CUTOFF_FREQUENCY_HZ), US2S(deltaMicros));