Für die Kollegen:
Ich hab schnell mal die PIDs vom XJB145 (auf Betaflight 3.5) optimiert. Die PIDtoolbox macht’s möglich!
# diff
# masterset
gyro_lowpass_hz = 120
set dyn_notch_quality = 15
set dyn_notch_width_percent = 30
set rc_smoothing_type = FILTER
set blackbox_p_ratio = 64
set small_angle = 180
set pid_process_denom = 2
set debug_mode = GYRO_SCALED
# profile
profile 0
set dterm_notch_hz = 234
set dterm_notch_cutoff = 200
set iterm_rotation = OFF
set smart_feedforward = ON
set iterm_relax = RP
set p_pitch = 55
set i_pitch = 40
set d_pitch = 23
set p_roll = 45
set i_roll = 40
set d_roll = 21
set p_yaw = 45
set i_yaw = 90
set f_yaw = 90
set abs_control_gain = 5
# rateprofile
rateprofile 0
#set thr_mid = 0
#set thr_expo = 30
#set roll_expo = 20
#set pitch_expo = 20
#set roll_srate = 80
#set pitch_srate = 80
set tpa_rate = 20
set tpa_breakpoint = 1050
Yaw ist etwas zickig – egal wie ich P und I rauf und runter setze, es schießt immer schnell ein und erreicht dann erst flach den Setpoint. Könnte natürlich auch was mit den anderen Optionen zu tun haben. Aber ich finde, er fliegt auch so super.
Hier noch die alten PIDs, leicht zu hoch, aber noch unkritisch (Filter auf default):
set dterm_notch_cutoff = 0
set iterm_rotation = OFF
set smart_feedforward = ON
set iterm_relax = RP
set p_pitch = 57
set i_pitch = 40
set d_pitch = 24
set f_pitch = 60
set p_roll = 55
set i_roll = 40
set d_roll = 24
set f_roll = 60
set p_yaw = 65
set i_yaw = 60
set f_yaw = 60
set abs_control_gain = 5
