The context: I have a quadrocopter (a roughly 50cm cross made of aluminium with a brushless motor on each end, with a propeller) and for the moment I'm trying to stabilize one axis (so just two motors are connected).
A fusion out of a gyro- and a accelerometer calculates very accurate the attitude, which is the input from for the PID. The PID may adjust a variable, which is added to one and deducted from the other motor (it may of course be negative).
At the moment a different algorythm overrides the PID and does make sure the rotation speed doesn't get too high.
Unfortunately I don't even have any satisfying parameters. I tried to follow a wiki-article (all the parameters to 0, raise KP until it oscillates, divide it by two and so on) but I didnt take me further. I have no idea, especially for the KI and KD values, since people speak of values of 0.01 and 40 for the same parameter.
So i wanted to use the Autotune Library, but yeah...Not sure how to use it right now.
Thanks!