Only config.h now for a whoop. Universal whoop pids for any motor now exist and are set as default.
Welcome to the dark side!!! I Love It
This Is because betaflight is brushless firmware. With a 5" - the perfect pid tune for what you can do with your sticks requires higher pids than it takes to cleanly stabilize any environmental influences. The opposite is true of brushed. The perfect tune for stick feel and response is not enough to stabilize our micros from environmental influences. So we have to pass the perfect stick input pids and tune up higher to handle windy days. So P setpoint weight allows the pid controller to respond to the environment with the full high pids we set up, and stick commands only get (setpoint weight * pids) applied. Mathematically it is possible to configure a setpoint weight to lower stick input pids while giving full environmental pids but not the opposite due to the definitions of error (sticks minus gyro) and measurement (gyro alone).
Correct. Betaflight used to use measurement. But around 2.8 they switched to the option of which pid controller you wanted to use, then somewhere after 3.0 they wrapped them both into one with setpoint weight.
It’s basically because of D term kick resulting from setpoint changes being digital instead of analog. The derivative during a step up goes insane because the slope of a step at the step is straight up which leads to an insane derivative. Betaflight uses rc interpolation, also called smoothing, to take the steps out and make the digital input of stick commands look more analog. Brushless motors can respond to rapid changes in d at the stairsteps Because they have active braking. And they will cook from it. Brushed motors don’t care… we just need to properly filter the “noise” and we do just that. So we are ready to go error now too. Or a weighted blend of the two. Setpoint, for example, just means give me 40% of one calculating method, and 60% of the other, and then add the result. It’s just a type of offset average or a chef’s blend of the two. Lol.
Read this … especially towards the end. I had to re read it for a few days myself before it all sunk in and everything felt familiar enough (the variables and what they mean) for it all to click.
https://controlguru.com/pid-control-and-derivative-on-measurement/ So keep at it.
Then come back and ask questions. First hint … setpoint weight is a weighted blend of two things (one of them being the setpoint). Setpoint, within a pid equation, is the stick inputs. Don’t confuse the 2, they sound similar but are totally different. :)