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18 lines
1.5 KiB
18 lines
1.5 KiB
1 year ago
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# ArduSub Tuning
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## Basic Tuning
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This page allows changing the PID controller gains to better suit your vehicle and application. Changing these may help you get a snappier response for more precise movements, or a smoother response for recording cinematic footages. Adjust a parameter by moving the desired slider, or by clicking the increase/decrease buttons. There are three controllers that can be adjusted here:
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- [**Attitude Controller Parameters**](https://www.ardusub.com/operators-manual/full-parameter-list.html#atc-parameters) are the parameters for the controller responsible for keeping the vehicle oriented as you want it, assuming your vehicle has ability (enough motors/DOF) to do so.
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- **Position Controller Parameters** are the parameters for the controller responsible for positioning the vehicle at a point in 3D space. The **Z** parameters control how the depth control works (eg in [_Depth Hold_](https://www.ardusub.com/operators-manual/flight-modes.html#depth-hold) mode). The **XY** parameters affect how the vehicle controls the horizontal position in [_Position Enabled_](https://www.ardusub.com/operators-manual/flight-modes.html#position-enabled-modes) modes.
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- **Waypoint Navigation Parameters** are the parameters for the controller responsible for following waypoints in **Auto** and **Guided** mode.
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::: warning
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**Guided** and **Auto** modes are currently unsupported and some features are disabled in QGC.
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:::
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