Some unfixed e.g. using synthetic throttle in takeoff
Not able to descend in qland
Amount of energy going in to stabilize vehicle made it go up
Maybe reduce smax?
It was set to 50 as essentially infinite just to trigger the logging
Maybe to 25?
Under 10 is typical in-flight
5 is the quicktune limit
Is halving the right thing to do to target gain?
There are other ways which can be investigated
Dmode is available so the little function that changes the gains could look at it
Or we could do it in PID loop only based on the dmod value?
It moves slowly so use previous loop’s dmod
It’s already in the PIDInfo structure
Would also affect fixed-wing flight
Maybe also reduce feed-forward by sqrt of dmod?
Tridge will raise a PR to get shot down
Should we reduce the xy gains of the position controller when activating dmod?
Otherwise we might be driving things up at a different layer
Leonard doesn’t think so
Pushing position controller loops up so tight that it matters is probably a bad configuration
Should already be a significant gap between pc and the rate-loop gains already
[11:23 AM]MichelleR: Maybe we need some kind of “if all else fails” stopper for land mode - eg if it’s in land mode and hasn’t come down after a while, reduce the max throttle that any individual motor can go to - because it’s not just PID tuning that can cause a climbaway?
[11:26 AM]Leonard: We have that in copter already.
[11:26 AM]Leonard: If we climb against the controllers we reduce mix min to prioritize throttle.
[11:28 AM]MichelleR: Doesn’t that still let the roll & pitch controllers possibly set individual motors too high if their tuning is bad? As happened on the quadplane we were looking at? Or is it not active for quadplanes?
[11:29 AM]Leonard: No, it can potentially pull everything to zero.
There’s a multiplier in Copter controilled by poscontroller which an reduce the thrust to zero