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Additional Description for Control Derivative #9521

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Dec 6, 2023
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Additional Description for Control Derivative #9521

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5c12057
Additional Description for Control Derivative
MrD-RC Nov 29, 2023
3d2078e
added hint for BetaFlight users
MrD-RC Nov 30, 2023
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8 changes: 4 additions & 4 deletions docs/Settings.md
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Original file line number Diff line number Diff line change
Expand Up @@ -2444,7 +2444,7 @@ This is the maximum value (in us) sent to esc when armed. Default of 1850 are OK

### mc_cd_lpf_hz

Cutoff frequency for Control Derivative. Lower value smoother reaction on fast stick movements. With higher values, response will be more aggressive, jerky
Cutoff frequency for Control Derivative. This controls the cutoff for the LPF that is applied to the CD (Feed Forward) signal to the PID controller. Lower value will produce a smoother CD gain to the controller, but it will be more delayed. Higher values will produce CD gain that may have more noise in the signal depending on your RC link but wil be less delayed.

| Default | Min | Max |
| --- | --- | --- |
Expand All @@ -2454,7 +2454,7 @@ Cutoff frequency for Control Derivative. Lower value smoother reaction on fast s

### mc_cd_pitch

Multicopter Control Derivative gain for PITCH
Multicopter Control Derivative gain for PITCH (known as 'Feed Forward' in Betaflight). The CD intoduces a term to the PID controller that is the magnitude of the Setpoint change. Fast inputs produce a high CD gain to help push the MC into a move; in advance of the P-gain if set high enough.

| Default | Min | Max |
| --- | --- | --- |
Expand All @@ -2464,7 +2464,7 @@ Multicopter Control Derivative gain for PITCH

### mc_cd_roll

Multicopter Control Derivative gain for ROLL
Multicopter Control Derivative gain for ROLL (known as 'Feed Forward' in Betaflight). The CD intoduces a term to the PID controller that is the magnitude of the Setpoint change. Fast inputs produce a high CD gain to help push the MC into a move; in advance of the P-gain if set high enough.

| Default | Min | Max |
| --- | --- | --- |
Expand All @@ -2474,7 +2474,7 @@ Multicopter Control Derivative gain for ROLL

### mc_cd_yaw

Multicopter Control Derivative gain for YAW
Multicopter Control Derivative gain for YAW (known as 'Feed Forward' in Betaflight). The CD intoduces a term to the PID controller that is the magnitude of the Setpoint change. Fast inputs produce a high CD gain to help push the MC into a move; in advance of the P-gain if set high enough.

| Default | Min | Max |
| --- | --- | --- |
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8 changes: 4 additions & 4 deletions src/main/fc/settings.yaml
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Expand Up @@ -1730,7 +1730,7 @@ groups:
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: mc_cd_pitch
description: "Multicopter Control Derivative gain for PITCH"
description: "Multicopter Control Derivative gain for PITCH (known as 'Feed Forward' in Betaflight). The CD intoduces a term to the PID controller that is the magnitude of the Setpoint change. Fast inputs produce a high CD gain to help push the MC into a move; in advance of the P-gain if set high enough."
default_value: 60
field: bank_mc.pid[PID_PITCH].FF
min: RPYL_PID_MIN
Expand All @@ -1754,7 +1754,7 @@ groups:
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: mc_cd_roll
description: "Multicopter Control Derivative gain for ROLL"
description: "Multicopter Control Derivative gain for ROLL (known as 'Feed Forward' in Betaflight). The CD intoduces a term to the PID controller that is the magnitude of the Setpoint change. Fast inputs produce a high CD gain to help push the MC into a move; in advance of the P-gain if set high enough."
default_value: 60
field: bank_mc.pid[PID_ROLL].FF
min: RPYL_PID_MIN
Expand All @@ -1778,7 +1778,7 @@ groups:
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: mc_cd_yaw
description: "Multicopter Control Derivative gain for YAW"
description: "Multicopter Control Derivative gain for YAW (known as 'Feed Forward' in Betaflight). The CD intoduces a term to the PID controller that is the magnitude of the Setpoint change. Fast inputs produce a high CD gain to help push the MC into a move; in advance of the P-gain if set high enough."
default_value: 60
field: bank_mc.pid[PID_YAW].FF
min: RPYL_PID_MIN
Expand Down Expand Up @@ -2195,7 +2195,7 @@ groups:
table: pidTypeTable
default_value: AUTO
- name: mc_cd_lpf_hz
description: "Cutoff frequency for Control Derivative. Lower value smoother reaction on fast stick movements. With higher values, response will be more aggressive, jerky"
description: "Cutoff frequency for Control Derivative. This controls the cutoff for the LPF that is applied to the CD (Feed Forward) signal to the PID controller. Lower value will produce a smoother CD gain to the controller, but it will be more delayed. Higher values will produce CD gain that may have more noise in the signal depending on your RC link but wil be less delayed."
default_value: 30
field: controlDerivativeLpfHz
min: 0
Expand Down