Change cyclic cross-coupling scale

- Change the CC gain x10 stronger - Change the CC cutoff /10 lower
rotorflight · Aug 13, 2024 · 71eb96b · 71eb96b
1 parent 82bdf75
commit 71eb96b
Show file tree

Hide file tree

Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
@@ -238,8 +238,8 @@ void INIT_CODE pidInitProfile(const pidProfile_t *pidProfile)
     pid.cyclicCrossCouplingGain[FD_ROLL]  = pid.cyclicCrossCouplingGain[FD_PITCH] * pidProfile->cyclic_cross_coupling_ratio / -100.0f;
 
     // Cross-coupling derivative filters
-    difFilterInit(&pid.crossCouplingFilter[FD_PITCH], pidProfile->cyclic_cross_coupling_cutoff, pid.freq);
-    difFilterInit(&pid.crossCouplingFilter[FD_ROLL], pidProfile->cyclic_cross_coupling_cutoff, pid.freq);
+    difFilterInit(&pid.crossCouplingFilter[FD_PITCH], pidProfile->cyclic_cross_coupling_cutoff / 10.0f, pid.freq);
+    difFilterInit(&pid.crossCouplingFilter[FD_ROLL], pidProfile->cyclic_cross_coupling_cutoff / 10.0f, pid.freq);
 
     // Initialise sub-profiles
     governorInitProfile(pidProfile);

diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
@@ -51,7 +51,7 @@
 #define YAW_F_TERM_SCALE            0.000025f
 #define YAW_B_TERM_SCALE            1.0e-6f
 
-#define CROSS_COUPLING_SCALE        0.1e-6f
+#define CROSS_COUPLING_SCALE        1.0e-6f
 
 typedef struct {
     float P;

diff --git a/src/main/pg/pid.c b/src/main/pg/pid.c
@@ -85,9 +85,9 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .yaw_collective_dynamic_gain = 0,
         .yaw_collective_dynamic_decay = 25,
         .pitch_collective_ff_gain = 0,
-        .cyclic_cross_coupling_gain = 25,
+        .cyclic_cross_coupling_gain = 10,
         .cyclic_cross_coupling_ratio = 0,
-        .cyclic_cross_coupling_cutoff = 15,
+        .cyclic_cross_coupling_cutoff = 100,
         .angle.level_strength = 40,
         .angle.level_limit = 55,
         .horizon.level_strength = 40,