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Topic: [UPDATES] Bicopter stabilization algorith (Code + Video) (Read 3995 times) previous topic - next topic

rossi86m

I like it!

How do you do the clevis and push rod?

Mine is not very stable is just a clip hahahah

I am tuning the pid values but the bicopter is oscillating a bit when i move the throttle more than 50%, any suggestion?

Do you mind sharing a video of the tricopter?

Thanks!

Marco

MartinL

Hi Marco,

Quote
I am tuning the pid values but the bicopter is oscillating a bit when i move the throttle more than 50%, any suggestion?
I'd suggest starting off with the P term only, with I and D gain set to zero. If you're getting oscillations then usually that's an indication that the gain's too high.

Quote
Do you mind sharing a video of the tricopter?
It's a bit old, but a video of the tricopter can be found here: https://youtu.be/rx33SYrK2aE

In the video the tricopter's using a custom board based on the Arduino Mega. It's also using the MPU6050.

rossi86m

Video update
https://youtu.be/oZ-G4dR_iFY

One pid loop running. I still need to add the second pid loop for pitch and roll

Code attached

MartinL

Hi Marco,

Thanks for the video update.

Looks like the bicopter's flying really well.

rossi86m

The bicopter is pretty stable but i am not able to make it stay in one steady point

Any suggestion?????

Here is my code

Thanks,
Marco

rossi86m

Guys i bought a bmp180 to try to stabilize the altitude.

This is the code. I am still working on it and trying to figure out which is the best strategy to do it.

Any suggestion from experience?

Question: When i increase the throttle should i modify the altitude pid setpoint?

The code is attached

Cheers,
Marco

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