understanding of AQ's rate PID

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understanding of AQ's rate PID

Postby MaryamMagdy » Thu May 15, 2014 6:08 am

I'm writing my own code for a PID controller. I did 3 PIDs for x,y and z taking values from Kalman filter. however this doesn't seem to be enough to work well. so I thought I might modify my code by getting help from AQ's software. from what I've understood, AQ uses an extra PID in rate mode where it only takes values from Gyros so that the rate of change of the error is constant. what I didn't understand is whats meant by outer and inner loops for PIDs? (mentioned here:http://autoquad.org/wiki/wiki/flying/tuning-and-troubleshooting/attitude-tuning/)

I'm using the Arduino library (http://playground.arduino.cc/Code/PIDLibrary) , I have to write the command PID.compute(); in the loop for my 3 PIDs. so in this case I will just add the ratePID.compute(); iafter the other 3 PIDs right?

Any feedback will be alot appreciated! :)
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