You have to tune the rate-PID before the angle-PID
Thanks for the nice explanation! Still one question though:QuoteYou have to tune the rate-PID before the angle-PIDI agree with this but how do you practically tune it? I mean with the angle-PID, it's easy to tune, you can look at the angles values or even look at your quad to see if it's stable but with the rate-PID, I have no idea how to tune it.
The method I'm using today is pretty advanced and requires some expensive software.. I basically made a Matlab script that sends data back and forth to the quadcopter and optimize the PID values
8 ) Buy me a beer!!!!! smiley
About your old method of rate-PID tuning:What is your speed setpoint/reference ? I guess 0 deg/s and before your have manually put your quad at 0 deg for roll and pitch angle?
I know well Matlab and I have got it on my laptop. (My dream would have been to use Simulink . Anyway what do you do with your Matlab script? Transfer function?
hi again.i have some question i fixed my receiver and now i have some question . how we can change pid values? is it compatible with multiwii gui ?
#define ROLL_PID_KP 0.250#define ROLL_PID_KI 0.950#define ROLL_PID_KD 0.011#define ROLL_PID_MIN -50.0#define ROLL_PID_MAX 50.0#define PITCH_PID_KP 0.250#define PITCH_PID_KI 0.950#define PITCH_PID_KD 0.011#define PITCH_PID_MIN -50.0#define PITCH_PID_MAX 50.0#define YAW_PID_KP 0.680#define YAW_PID_KI 0.500#define YAW_PID_KD 0.0001#define YAW_PID_MIN -50.0#define YAW_PID_MAX 50.0#define ANGLEX_KP 5.0#define ANGLEX_KI 0.02#define ANGLEX_KD -0.015#define ANGLEX_MIN -100.0#define ANGLEX_MAX 100.0#define ANGLEY_KP 5.0#define ANGLEY_KI 0.02#define ANGLEY_KD -0.015#define ANGLEY_MIN -100.0#define ANGLEY_MAX 100.0
sorry bro how arm the quad ? i tried all the ways but quadcopter didnot armed and motors didint start anyway
i changed pins because i use arduino uno and i think problem caused bcuz of that .....
i changed the motors to 3 9 10 11 pinsand throttle to pin 2 and other 3channel to 4 5 6 i think the interupt of arduino is pins 3 isnt it ?
i can unchange the pins but the uno dont have more than 13 pins ...