From 5c12057e6c79f6501599b101e120cf6986f7d410 Mon Sep 17 00:00:00 2001 From: Darren Lines Date: Wed, 29 Nov 2023 12:30:41 +0000 Subject: [PATCH] Additional Description for Control Derivative --- docs/Settings.md | 8 ++++---- src/main/fc/settings.yaml | 8 ++++---- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/docs/Settings.md b/docs/Settings.md index 3c431bd4a..39e4eaac2 100644 --- a/docs/Settings.md +++ b/docs/Settings.md @@ -2444,7 +2444,7 @@ This is the maximum value (in us) sent to esc when armed. Default of 1850 are OK ### mc_cd_lpf_hz -Cutoff frequency for Control Derivative. Lower value smoother reaction on fast stick movements. With higher values, response will be more aggressive, jerky +Cutoff frequency for Control Derivative. This controls the cutoff for the LPF that is applied to the CD (Feed Forward) signal to the PID controller. Lower value will produce a smoother CD gain to the controller, but it will be more delayed. Higher values will produce CD gain that may have more noise in the signal depending on your RC link but wil be less delayed. | Default | Min | Max | | --- | --- | --- | @@ -2454,7 +2454,7 @@ Cutoff frequency for Control Derivative. Lower value smoother reaction on fast s ### mc_cd_pitch -Multicopter Control Derivative gain for PITCH +Multicopter Control Derivative gain for PITCH. The CD intoduces a term to the PID controller that is the magnitude of the Setpoint change. Fast inputs produce a high CD gain to help push the MC into a move; in advance of the P-gain if set high enough. | Default | Min | Max | | --- | --- | --- | @@ -2464,7 +2464,7 @@ Multicopter Control Derivative gain for PITCH ### mc_cd_roll -Multicopter Control Derivative gain for ROLL +Multicopter Control Derivative gain for ROLL. The CD intoduces a term to the PID controller that is the magnitude of the Setpoint change. Fast inputs produce a high CD gain to help push the MC into a move; in advance of the P-gain if set high enough. | Default | Min | Max | | --- | --- | --- | @@ -2474,7 +2474,7 @@ Multicopter Control Derivative gain for ROLL ### mc_cd_yaw -Multicopter Control Derivative gain for YAW +Multicopter Control Derivative gain for YAW. The CD intoduces a term to the PID controller that is the magnitude of the Setpoint change. Fast inputs produce a high CD gain to help push the MC into a move; in advance of the P-gain if set high enough. | Default | Min | Max | | --- | --- | --- | diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml index 0c517ab8c..44f1f6c24 100644 --- a/src/main/fc/settings.yaml +++ b/src/main/fc/settings.yaml @@ -1730,7 +1730,7 @@ groups: min: RPYL_PID_MIN max: RPYL_PID_MAX - name: mc_cd_pitch - description: "Multicopter Control Derivative gain for PITCH" + description: "Multicopter Control Derivative gain for PITCH. The CD intoduces a term to the PID controller that is the magnitude of the Setpoint change. Fast inputs produce a high CD gain to help push the MC into a move; in advance of the P-gain if set high enough." default_value: 60 field: bank_mc.pid[PID_PITCH].FF min: RPYL_PID_MIN @@ -1754,7 +1754,7 @@ groups: min: RPYL_PID_MIN max: RPYL_PID_MAX - name: mc_cd_roll - description: "Multicopter Control Derivative gain for ROLL" + description: "Multicopter Control Derivative gain for ROLL. The CD intoduces a term to the PID controller that is the magnitude of the Setpoint change. Fast inputs produce a high CD gain to help push the MC into a move; in advance of the P-gain if set high enough." default_value: 60 field: bank_mc.pid[PID_ROLL].FF min: RPYL_PID_MIN @@ -1778,7 +1778,7 @@ groups: min: RPYL_PID_MIN max: RPYL_PID_MAX - name: mc_cd_yaw - description: "Multicopter Control Derivative gain for YAW" + description: "Multicopter Control Derivative gain for YAW. The CD intoduces a term to the PID controller that is the magnitude of the Setpoint change. Fast inputs produce a high CD gain to help push the MC into a move; in advance of the P-gain if set high enough." default_value: 60 field: bank_mc.pid[PID_YAW].FF min: RPYL_PID_MIN @@ -2195,7 +2195,7 @@ groups: table: pidTypeTable default_value: AUTO - name: mc_cd_lpf_hz - description: "Cutoff frequency for Control Derivative. Lower value smoother reaction on fast stick movements. With higher values, response will be more aggressive, jerky" + description: "Cutoff frequency for Control Derivative. This controls the cutoff for the LPF that is applied to the CD (Feed Forward) signal to the PID controller. Lower value will produce a smoother CD gain to the controller, but it will be more delayed. Higher values will produce CD gain that may have more noise in the signal depending on your RC link but wil be less delayed." default_value: 30 field: controlDerivativeLpfHz min: 0 -- 2.11.4.GIT