There are new parameters in the PID variables. Are these related to the double integral PID controllers. How does I1 and I2 work now.
Dr. Google says:
The P2I Controller (Double Integral)
A controller with a double integral function would involve a term proportional to the integral of the integral of the error, or more commonly, a separate integral term as part of a more complex control strategy:
- Single Loop PID with Double Integral: Mathematically, a second integral on the same error signal would result in a very slow and potentially unstable response, as it adds significantly more lag to the system. It’s generally not a practical or useful configuration for a standard control loop.
- Specialized Applications: P2I controllers are used for processes that inherently have “double integrating” dynamics, such as the position control of a mass where the input is force (force equals mass times acceleration, which is the second derivative of position). For these systems, a standard PID might be insufficient to achieve stability or desired performance.
- Advanced Control Strategies (Cascade Control): The idea of “two integral functions” often appears in the form of cascade control, which uses two separate, interacting PID loops. In cascade control:
- An outer (primary) loop controls the main process variable (e.g., temperature) and its output becomes the setpoint for an inner (secondary) loop.
- The inner loop controls a faster-responding variable (e.g., flow rate of a heating medium) using its own PID controller.
- Both controllers may utilize integral action to eliminate steady-state errors within their respective loopS.
Please add more info to the PID primer and the parameters on how to set these. I assume you cannot set one of the Ix Parameter to zero because it would set the combined I integral to zero?
I am still confused on how the ai.cfg stick and rudder relates to AP PID in the systems.cfg. Please provide more detail there. The PID primer points to values in the ai.cfg and not any systems.cfg PID params.