Hello,
I’m tuning an HexaCopter and while checking parameters values (ATC…) I noted there are some ATC_RAT_ *_ * parameters with two different Range-Increment
Example:
http://ardupilot.org/copter/docs/parameters.html#atc-rat-rll-p-roll-axis-rate-controller-p-gain
ATC_RAT_RLL_P: Roll axis rate controller P gain
Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output
Range
Increment
0.05 - 0.5
0.005
ATC_RAT_RLL_I: Roll axis rate controller I gain
Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate
Range
Increment
0.01 - 2.0
0.01
ATC_RAT_RLL_IMAX: Roll axis rate controller I gain maximum
Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
Range
Increment
Units
0 - 1
0.01
percent
ATC_RAT_RLL_D: Roll axis rate controller D gain
Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate
Range
Increment
0.0 - 0.02
0.001
And
http://ardupilot.org/copter/docs/parameters.html#id1
ATC_RAT_RLL_P: Roll axis rate controller P gain
Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output
Range
Increment
0.08 - 0.35
0.005
ATC_RAT_RLL_I: Roll axis rate controller I gain
Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate
Range
Increment
0.01 - 0.6
0.01
ATC_RAT_RLL_IMAX: Roll axis rate controller I gain maximum
Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
Range
Increment
0 - 1
0.01
ATC_RAT_RLL_D: Roll axis rate controller D gain
Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate
Range
Increment
0.001 - 0.03
0.001
I’m using Copter 3.5.*
What entry (range-increment) is OK for reference as some autotune values can be out of range.
Marc