Accessing controller for Pluto 1.2

[rsinghv2]

Hello,

I am trying to physically understand the effect of changing gain values of the controller on-board Pluto 1.2, but I cannot access/find its PID controller code. I am not sure if this is a valid question but can I get help on how to do this? Would I have to write my own PID controller? Is there some repo where I can find this code?

Thank you! I am really enjoying working with this quadcopter! You guys are doing a phenomenal job!

[prasanna.shevare]

Hi,
You can find the repo here:
https://github.com/DronaAviation/Magis

More specifically the PID code is here:
line 760: function: pidRewrite() in
https://github.com/DronaAviation/Magis/blob/master/src/main/flight/pid.cpp

If you want to change the gains. Some basic gains are also changeable through the Pluto controller app. If you want to access all the gains we can send you the wireless version of cleanflight, which works with pluto. Send a mail to prasanna.shevare@dronaaviation.com for accessing this.

Thank you very much for your feedback. Really appreciate it.

[Author]

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