{"action":"created","issue":{"url":"https://api.github.com/repos/iNavFlight/inav/issues/3087","repository_url":"https://api.github.com/repos/iNavFlight/inav","labels_url":"https://api.github.com/repos/iNavFlight/inav/issues/3087/labels{/name}","comments_url":"https://api.github.com/repos/iNavFlight/inav/issues/3087/comments","events_url":"https://api.github.com/repos/iNavFlight/inav/issues/3087/events","html_url":"https://github.com/iNavFlight/inav/issues/3087","id":316497584,"node_id":"MDU6SXNzdWUzMTY0OTc1ODQ=","number":3087,"title":"PID attenuation for VTOL ","user":{"login":"xswein","id":34652669,"node_id":"MDQ6VXNlcjM0NjUyNjY5","avatar_url":"https://avatars1.githubusercontent.com/u/34652669?v=4","gravatar_id":"","url":"https://api.github.com/users/xswein","html_url":"https://github.com/xswein","followers_url":"https://api.github.com/users/xswein/followers","following_url":"https://api.github.com/users/xswein/following{/other_user}","gists_url":"https://api.github.com/users/xswein/gists{/gist_id}","starred_url":"https://api.github.com/users/xswein/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/xswein/subscriptions","organizations_url":"https://api.github.com/users/xswein/orgs","repos_url":"https://api.github.com/users/xswein/repos","events_url":"https://api.github.com/users/xswein/events{/privacy}","received_events_url":"https://api.github.com/users/xswein/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":1,"created_at":"2018-04-21T14:43:34Z","updated_at":"2018-06-14T10:37:02Z","closed_at":null,"author_association":"NONE","body":"Hi,\r\ni have partial succes with tailsitter VTOL in iNav.\r\n\r\nMy flying wing is configured like E-flite X-VERT or Eachine Mirage E500 (dual motor differential thrust flying wing). Configuration for beeing able to execute vertical take off or landing is bit weird  - i have configured flight controller as level in talisitting position (in channel mapping I swapped Aileron and Rudder) so in ANGLE mode it hovers like multirotor with rc mode4, in forward flight I use RATE mode, then it behaves as normal airplane with mode2.\r\n\r\nI have a good set of PIDs for forward flight, i have good set of PIDs for hovering function. But in vertical mode (airflow is separated from airfoil) i need P gains generally of around 80-100, for forward flight around 15-20.\r\n\r\nFrom what I know, its not possible to switch PID Profiles in flight by Adjustments, and I cannot set step or end points for PID tunning by Adjustments. Is there some way around this?\r\n\r\nI was thinking, If there was possibility to set gain step and end points for Inflight adjustment, I could set like PITCH_ROLL_P end points of 20 and 100, step 20 and put the adjustment function on the same switch as flight mode and P gain would move from 20 to 80 in 2.5 seconds after the mode was selected (which would be nearly perfect timing for transition from forward flight to loosing speed and hovering).\r\n\r\nDo you have any idea, how to solve this?\r\nThanks a lot, Martin"},"comment":{"url":"https://api.github.com/repos/iNavFlight/inav/issues/comments/397250258","html_url":"https://github.com/iNavFlight/inav/issues/3087#issuecomment-397250258","issue_url":"https://api.github.com/repos/iNavFlight/inav/issues/3087","id":397250258,"node_id":"MDEyOklzc3VlQ29tbWVudDM5NzI1MDI1OA==","user":{"login":"taileron","id":16166920,"node_id":"MDQ6VXNlcjE2MTY2OTIw","avatar_url":"https://avatars3.githubusercontent.com/u/16166920?v=4","gravatar_id":"","url":"https://api.github.com/users/taileron","html_url":"https://github.com/taileron","followers_url":"https://api.github.com/users/taileron/followers","following_url":"https://api.github.com/users/taileron/following{/other_user}","gists_url":"https://api.github.com/users/taileron/gists{/gist_id}","starred_url":"https://api.github.com/users/taileron/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/taileron/subscriptions","organizations_url":"https://api.github.com/users/taileron/orgs","repos_url":"https://api.github.com/users/taileron/repos","events_url":"https://api.github.com/users/taileron/events{/privacy}","received_events_url":"https://api.github.com/users/taileron/received_events","type":"User","site_admin":false},"created_at":"2018-06-14T10:37:02Z","updated_at":"2018-06-14T10:37:02Z","author_association":"NONE","body":"I´ve done it with Betaflight 3.22 but I don´t know how to integrate it into iNav or Cleanflight.\r\nIt bases of adding a float value that varies from 0 to 1 if an aux channel goes from 1ms to 2ms.\r\nAdded scaling factors into the final pid summing procedure.\r\nfloat auxPgain = (((float)rcData[AUX5])/2000.0f)-0.5f;\r\nfloat auxIgain = (0.5f+(2.0f * auxPgain))/1.5f;\r\n\r\nSo aux5 directly controls P and D term 0 .... 100% and iterm 33 .... 100%"}}
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