Is there anyone who knows how to tune cascaded PID? My quadcopter project is similar to BlueCopter but I can't get of the bottom of this.Thank you
#define ACC_HPF_NR 98 //high pass filter nrint accx_temp=0;//...buffer=buffer-ACC_X_OFFSET; accx_temp=(ACC_HPF_NR*accx_temp+(100-ACC_HPF_NR)*buffer)/100;//...
You start innerst -> outwards. Since with cascades you assume the inner ones are infinitely fast, you first make sure they are nice, then go outwards.Sample rates of 200-50 Hz are realistic. The feedback path has to include the state information: Angles and Rates. If it is raw "measurements" with noise added, depends on if you include a filtering model.Oh an quike_gon: If you are in X configuration, it is correct. And pitch is defined as 'lean back', so if the front rises up.
Hey, thanks Nick =).. Couldn't figure out where to start the topic.. Good thing you moved it..//Basel