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Author Topic: Quadrotor project  (Read 1485 times)
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Your readings don't look very noisy to me, however the noise may be a problem if the D term is too high. Try setting the D term to zero and see how stable you can get it using just P and I terms. When you have optimised P and I, you can try adding a bit of D.
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Hi again ,
i was tweaking the pid again i have a little improvement, but the interesting part is that sometimes with the exact same parameters  the quad acts different .I mean  that sometimes is almost stable ,and sometimes it shakes and swings .I am wondering is this because of the  ballance of the frame.Or just sometimes the sensors are more noisy then other times.
I am wondering would the change of the sensor board with a less noisy one would solve the problem(if there are less noisy boards)? I even have a board in mind   it has not only 3 axis gyro,accel and magnetometer ,but also a barometer.Does somebody has an opinion for this board.
  

Your readings don't look very noisy to me, however the noise may be a problem if the D term is too high. Try setting the D term to zero and see how stable you can get it using just P and I terms. When you have optimised P and I, you can try adding a bit of D.
if you are talking about this readings
Code:
 
             !ANG:Roll: 0.01,Pitch: 0.00,Yaw:-21.98
    !ANG:Roll: 0.28,Pitch: -0.05,Yaw:-21.98
    !ANG:Roll: 0.19,Pitch: -0.15,Yaw:-21.99
    !ANG:Roll: 0.09,Pitch: -0.07,Yaw:-22.00
    !ANG:Roll: 0.15,Pitch: -0.03,Yaw:-21.97
    !ANG:Roll: 0.07,Pitch: 0.03,Yaw:-21.95
    !ANG:Roll: -0.12,Pitch: 0.13,Yaw:-21.93
    !ANG:Roll: -0.15,Pitch: 0.02,Yaw:-21.90
    !ANG:Roll: -0.25,Pitch: 0.15,Yaw:-21.87
    !ANG:Roll: -0.25,Pitch: 0.14,Yaw:-21.85
    !ANG:Roll: -0.18,Pitch: 0.04,Yaw:-21.83
    !ANG:Roll: -0.18,Pitch: 0.06,Yaw:-21.80
    !ANG:Roll: -0.25,Pitch: 0.07,Yaw:-21.77
    !ANG:Roll: -0.38,Pitch: 0.08,Yaw:-21.75
    !ANG:Roll: -0.34,Pitch: 0.06,Yaw:-21.73
    !ANG:Roll: -0.21,Pitch: -0.06,Yaw:-21.70
    !ANG:Roll: -0.28,Pitch: -0.17,Yaw:-21.71
    !ANG:Roll: -0.32,Pitch: -0.02,Yaw:-21.72
    !ANG:Roll: -0.24,Pitch: 0.20,Yaw:-21.73
    !ANG:Roll: -0.31,Pitch: 0.22,Yaw:-21.74
    !ANG:Roll: -0.48,Pitch: 0.18,Yaw:-21.75
    !ANG:Roll: -0.56,Pitch: 0.16,Yaw:-21.76
    !ANG:Roll: -0.60,Pitch: 0.19,Yaw:-21.77
    !ANG:Roll: -0.68,Pitch: 0.13,Yaw:-21.79
    !ANG:Roll: -0.66,Pitch: 0.14,Yaw:-21.80
    !ANG:Roll: -0.54,Pitch: -0.03,Yaw:-21.81
    !ANG:Roll: -0.51,Pitch: -0.09,Yaw:-21.83
    !ANG:Roll: -0.55,Pitch: -0.27,Yaw:-21.84
    !ANG:Roll: -0.54,Pitch: -0.29,Yaw:-21.82
    !ANG:Roll: -0.67,Pitch: -0.30,Yaw:-21.81
    !ANG:Roll: -0.52,Pitch: -0.34,Yaw:-21.81
    !ANG:Roll: -0.47,Pitch: -0.22,Yaw:-21.80
    !ANG:Roll: -0.33,Pitch: -0.29,Yaw:-21.79
    !ANG:Roll: -0.25,Pitch: -0.27,Yaw:-21.79
    !ANG:Roll: -0.38,Pitch: -0.22,Yaw:-21.81
    !ANG:Roll: -0.36,Pitch: -0.16,Yaw:-21.82
    !ANG:Roll: -0.26,Pitch: -0.19,Yaw:-21.84
    !ANG:Roll: -0.35,Pitch: -0.28,Yaw:-21.85
    !ANG:Roll: -0.43,Pitch: -0.36,Yaw:-21.86
    !ANG:Roll: -0.51,Pitch: -0.41,Yaw:-21.87
    !ANG:Roll: -0.57,Pitch: -0.37,Yaw:-21.89
    !ANG:Roll: -0.40,Pitch: -0.22,Yaw:-21.90
They are taken when the quadrotor is not moving at all .I mean the motors are not rotating and the quad is on the ground.
And by the way this is noting i caught a 1+ degree  error once with motors off and quadrotor on ground.It was someting like:
!ANG:Roll: -0.35,Pitch....
!ANG:Roll: -1.47,Pitch....
« Last Edit: September 15, 2013, 03:33:17 pm by stunito0o0 » Logged

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