@Tudole wrote:
Hi Everyone,
I have a question to the unit of the control gains. I’ve briefly looked into the code. It seems like to me, the rate is in centidegree before it’s multiplied by the gain. Does it become the PWM duty cycle? If I know the exact blade pitch I want per deg/s rate, is this the correct math? "rate [centideg/sec] *Kp [sec/100] * (pitch_max-pitch_min) [deg]/(PWM_max_pitch-PWM_min_pitch) [duty_cyc] " Should that give me the result in [deg]?
Thanks!
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