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PID controller "LUX"
PID算法控制器-“LuxFloat”
This is a new floating point based PID controller. MW23 and MWREWRITE use integer arithmetic, which was faster in the days of the slower 8-bit MultiWii controllers, but is less precise.
这是一个新的浮点型算法控制器。MW23和mwrewrite使用整数运算，这是在速度较慢的8位MultiWii控制器一直使用的算法，但不够精确。
This controller has code that attempts to compensate for variations in the looptime, which should mean that the PIDs don't have to be retuned when the looptime setting changes.
“LuxFloat”控制器搭配有当looptime变化试图弥补looptime发生变化的代码，这意味着当looptime设置的改变时，PID不需要重新调整。
There were initially some problems with horizon mode, and sluggishness in acro mode, that were recently fixed by nebbian in v1.6.0.
最初在水平线模式中存在的问题，在ACRO手动模式中也反应滞缓，这是最近在1.6.0固件版本中进行修正。
It is the first PID Controller designed for 32-bit processors and not derived from MultiWii.
这是第一个为32位处理器设计的PID控制器算法，并不是来自MultiWii。
The strength of the auto-leveling correction applied during Angle mode is set by the parameter "level_angle" which is labeled "LEVEL Proportional" in the GUI. This can be used to tune the auto-leveling strength in Angle mode compared to Horizon mode. The default is 5.0.
自动水平校正中应用角度模式的强度是由参数“level_angle”决定，GUI中标签是LEVEL行的“Proportional”即P来设置。在Angle Mode(角度模式）时用来调整飞行器的水平修正强度。P的默认值是5。
The strength of the auto-leveling correction applied during Horizon mode is set by the parameter "level_horizon" which is labeled "LEVEL Integral" in the GUI. The default is 3.0, which makes the Horizon mode apply weaker self-leveling than the Angle mode. Note: There is currently a bug in the Configurator which shows this parameter divided by 100 (so it shows as 0.03 rather than 3.0).
在地平线模式（Horizon mode）自动修正的强度是由参数“level_horizon”决定，GUI中标签是LEVEL行的“Integral”即I来设置。默认为3.0，这使得地平线模式适用于弱自调比的角度模式。注：目前的GUI配置界面显示此参数有除以100的BUG（所以它显示为0.03而不是3.0）。
The transition between self-leveling and acro behavior in Horizon mode is controlled by the "sensitivity_horizon" parameter which is labeled "LEVEL Derivative" in the Cleanflight Configurator GUI. This sets the percentage of your stick travel that should have self-leveling applied to it, so smaller values cause more of the stick area to fly using only the gyros. The default is 75%
在地平线飞行模式的自动平衡使用强度和不应用的敏感度是由“sensitivity_horizon”参数决定，在GUI中标签是LEVEL行的“Derivative”即D来设置。这项设置的百分比，决定打杆行程的比例到多少时自动水平修正起多大的作用，因此设置较小的值会导致更多的打杆范围没有作用，只使用到陀螺仪。D的默认值是75%。
For example, at a setting of "100" for "sensitivity_horizon", 100% self-leveling strength will be applied at center stick, 50% self-leveling will be applied at 50% stick, and no self-leveling will be applied at 100% stick. If sensitivity is decreased to 75, 100% self-leveling will be applied at center stick, 50% will be applied at 63% stick, and no self-leveling will be applied at 75% stick and onwards.
例如，在设置“100”为“sensitivity_horizon”（D值为100时）、100%自动水平强度将被应用在摇杆回到中间区域时，50%自动水平强度将被应用在摇杆打到50%附近，如果摇杆打到底（100%）就没有自动水平修正了。如果敏感度D值降低到75，自动水平强度将被应用在摇杆回到中间区域时，50%自动水平强度将被应用在摇杆打到63%附近，如果摇杆打到75%及以上，就没有自动水平修正了。
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发表于 2016-2-17 10:51
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