We are developing a new quadrotor, and he have a big problem with the noise from the motors. We don`t know how to filter the noise from the motors because we have a very big problem also with the pid. So we thought that the pid isn`

t working due to the Noise from accelerometer. We are using a complementary filter for sensor fusion.( 0.95 Gyrox +0.05 AccX \ 0.95GyroY+0.05AccY).

Also this is the code for our PID.

```
#include "PID_Lib.h"
void Reset_PID()
{
PID_Integrated = 0.0;
PID_Prev_Input = 0.0;
PID_First_Time = TRUE;
}
void Init_PID(float Kp, float Ki, float Kd, float MinOutput, float MaxOutput)
{
PID_Kp = Kp;
PID_Ki = Ki;
PID_Kd = Kd;
PID_MinOutput = MinOutput;
PID_MaxOutput = MaxOutput;
PID_Integrated = 0.0;
PID_Prev_Input = 0.0;
PID_First_Time = TRUE;
}
float PID_Calculate(float Setpoint, float InputValue)
{
float Err, ErrValue, DiffValue, Result;
Err = Setpoint - InputValue;
// --- calculate proportional value ---
ErrValue = Err * PID_Kp;
// --- Calculate integrated value ---
PID_Integrated = PID_Integrated + (Err * PID_Ki);
// limit it to output minimum and maximum
if (PID_Integrated < PID_MinOutput)
PID_Integrated = PID_MinOutput;
if (PID_Integrated > PID_MaxOutput)
PID_Integrated = PID_MaxOutput;
// --- calculate derivative value ---
if (PID_First_Time)
{
// to avoid a huge DiffValue the first time (PID_Prev_Input = 0)
PID_First_Time = FALSE;
PID_Prev_Input = InputValue;
}
DiffValue = (InputValue - PID_Prev_Input) * PID_Kd;
PID_Prev_Input = InputValue;
// --- calculate total ---
Result = ErrValue + PID_Integrated - DiffValue; // mind the minus sign!!!
// limit it to output minimum and maximum
if (Result < PID_MinOutput)
Result = PID_MinOutput;
if (Result > PID_MaxOutput)
Result = PID_MaxOutput;
return (Result);
}
```

Date unghi ruliu.docx (35.9 KB)