Thanks for all the info, Mark! 😊 Stay safe there with your family! 🖖😊
@JamesDowningFPV
13 күн бұрын
Good information. I agree the autotune nomenclature in INAV is confusing. Looking at blackbox really brought home how FF works for fixedwing. FF for fixed wing in inav is basically manual flight (if you set your PID to 0. So the PIDs then sorta have manual flight guidance from FF, and adjusts it from there to meet the actual rates. Very interesting to learn about the derivative FF functionality on quads. Thanks, constantly learning from you!
@h2o40fpv
12 күн бұрын
Great video thank you.
@BrainDeadEngineering
13 күн бұрын
WOW ! Amen ! Now we can put this FF to bed ! No wonder when I raised my FF from 50 to 100 today..My ARWP was like riding on the back of Bodacious! lol Next Lesson, what does Integral do !😜 TY ! ✊
@stuweFPV
13 күн бұрын
INAV v3.0 was the only version ever tuning PIDFFR. since then it was crippled down in every release
@squirrelynutz1
13 күн бұрын
This is why i like aurdupilot aurduplane. Autotune actually tunes the pids.
@cagmuer
13 күн бұрын
I like the term control derivative, very similar to proportional, integral, derivative. What would happen if some raw command was added to the PID controller on a quad?
@RubyS.1
13 күн бұрын
Ohhhhh That explains why for fixed wing after doing an auto tune FF for pitch is almost always alot higher than roll. The default rotation for pitch is alot higher than most planes are capable of so ff is really high trying to get the plane to rotate that fast. With roll however default is pretty low for most small fpv planes so autotune keeps pushing the rotation up and ff down?
@cagmuer
13 күн бұрын
Its trying to balance the max Rate value with the FF term. And it depends so much on your plane. A 3D plane has giant ailerons and so the FF might be low while the Rate is high. But a long range plane with small ailerons would have a high FF but a low rate. So the size of the control surfaces also matters. So that's why they have auto tune, there are too many variables to set these values on the bench.
@00fluxone
13 күн бұрын
huh - so autotune in inav doesnt adjust pids
@uavtech
13 күн бұрын
CORRECT!
@AvegaWanderer
13 күн бұрын
FF in Inav for fixed wings is nothing but RC command.
@uavtech
13 күн бұрын
Yeah, it's a type of Setpoint scaler. But not direct RC command. For example, in Yaw on a V-tail in some cases, you can get full throw in Manual Mode, but not in Acro, even with FF at 255. It needs more range.
@AvegaWanderer
13 күн бұрын
@@uavtech Sure, it is a scaled RC command. By the way, don't you find weird that in INAV rates and PID gains are coupled and depend on each other? If rates are high (say, 600), you need lower PIDs. But if the rates are low enough (~60 which might be the case for big planes), to get adequate servo throw, PIDs must be set really high and may even fall even beyond 255. To me, it is unexpected and frustrating. Imho, INAV should have some fixed internel scaling for PID gains and those gains should not depend on rates.
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