Discussions

I'm trawling through the APM Arduplane 2.28 code base trying to locate where the PID loops are calculated and hence where the gains applied.

I want to be able to implement a density altitude/Mach/TAS-based factor on the PID gains to allow (simulated) flight at high altitudes, but so far my search for the illusive PID loop code is just frustrating.  Can anyone shed some light on where to look?

My search based on RLL2SRV, pidServoRoll, SERVO_ROLL_P and others as well as just general browsing have lead me nowhere.

Thanks in advance!