My current PID controller.
- Code: Select all
<!-- IAS FLCH -->
<!-- Hold speed by varying pitch trim (Two stage cascading controller) -->
<pid-controller>
<name>Speed hold (vary pitch trim) Stage #1</name>
<debug>false</debug>
<enable>
<prop>/autopilot/locks/altitude</prop>
<value>altitude-with-ias</value>
</enable>
<input>
<prop>/autopilot/internal/lookahead-5-sec-airspeed-kt</prop>
</input>
<reference>
<prop>/autopilot/settings/target-speed-kt</prop>
</reference>
<output>
<prop>/autopilot/settings/target-pitch-deg</prop>
</output>
<config>
<Kp>-1.0</Kp>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>1.0</Ti>
<Td>0.00001</Td>
<u_min>-15.0</u_min>
<u_max>15.0</u_max>
</config>
</pid-controller>
<pid-controller>
<name>Speed hold (vary pitch trim) Stage #2</name>
<debug>false</debug>
<enable>
<prop>/autopilot/locks/altitude</prop>
<value>altitude-with-ias</value>
</enable>
<input>
<prop>/orientation/pitch-deg</prop>
</input>
<reference>
<prop>/autopilot/settings/target-pitch-deg</prop>
</reference>
<output>
<prop>/controls/flight/elevator-trim</prop>
</output>
<config>
<Kp>-0.05</Kp>
<beta>1.0</beta>
<alpha>0.1</alpha>
<gamma>0.0</gamma>
<Ti>1.0</Ti>
<Td>0.00001</Td>
<u_min>-1.0</u_min>
<u_max>1.0</u_max>
</config>
</pid-controller>
Any shortcuts available, or just tons and tons of tuning.