Inav Profile 2 - Max iterm windup in 25-45mph windy mountains - Dragon V2

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I've been developing a PID/Rate profile for iNav with a maxed out iterm throw limit, max iterm windup, and nothing to interfere with iterm doing its job.
The goal is to keep the aircraft locked on the desired attitude no matter what is thrown at it. To test that, I went up into the mountains and launched into 20mph swirling winds, and then flew it up 2000ft into 40mph winds spilling over the edge of a sharp pointy mountain.
P-term takes the edge off the initial hit, but I-term windup is doing most of the heavy lifting. I felt like with P-term at 12, it was a little underdamped. 18 might be a little over which I may be able to fix by raising D-term.

Other than maybe 3 total instances in the vid, I did not have to make any corrections even when the plane was getting thrashed.

The ultimate goal is for iNav to keep it on course, through rough air when flying low level proximity, and constrain the maximum extent of the bumps to the point that the GoPro's Hypersmooth can handle the rest.
Oh, and the Dragon V2 is setup so it can fly straight up any mountain in pretty much any conditions.

Видео Inav Profile 2 - Max iterm windup in 25-45mph windy mountains - Dragon V2 канала techdaemon