XPID Problem with 360° Option

[asticher]

Hello XPID Users,

I have installed the latest XPID Sabertooth Firmeware with 360° option.
If the signal jumps from 360° to 0°, there is a jerk: the motor stops for about 0.5sec,
then there is a spike in the opposite direction, then the motor follows the signal normally again.

I can rule out that it is not caused by power supply, Sabertooth, Arduino, Poti, Motor/Gear,
X-Sim axis settings or game values.
Here is a video (Com3, position 1):

https://drive.google.com/open?id=1gTqcD ... m4n0ZUgE1G

The error is hardly visible here, i.e. it is lowest with the standard PID values (4.5, 0.4, .04).
and only noticeable as a short pause while shooting.

- The error is recognizable in the XPID curves by the actual/target delay. But there is no spike visible in the target line.

- With other values, e.g. 6.0, 0, 0, the spike in the opposite direction becomes so strong that the sabertooth switches off (LED flashes red).
Here at sec 21 you can see the error clearly:

https://youtu.be/KlALa_obfkc

- When the axle is loaded with 220kg the effect squares and the whole system becomes unstable (runaways)!

- The error is only present in the transition if the signal is slow. At a roll rate of 30°/sec the error is not present.

- The error very often occurs only in one signal direction. So from 360° to 0°. Not from 0° to 360°.


A simple solution is to integrate a spike filter into the axis,
but then the 360° option will not work anymore (motor turns in opposite direction).
Same effect with smooth. May someone has used the spiked filter together with the 360° Option?!?!

Can somebody give me a hint or does somebody have the same problem? I'm stuck here.

Thank you very much for any help.