[ATTITUDE MODE] pid adjustment

[gionag]

[gionag]

UPDATE...

just for recap : Quad-X, 2.4 kg (full-load), MT2814-10 770kv, CC Phoenix 35A, 13x8 prop on 4400mah 3s.

For a good flight now i use (only the values that i have changed from the default 6.6r33) :

- tilt RATE D = 4000
- tilt angle P = 20
- tilt angle I = 0.0010
- tilt angle D = 1400
- yaw angle P = 0.1

the only thing remain to fix is the "recover" time... the quad seems Lazy in turning back to horizontal position... no overshoot, no undershoot... perfect in flying angled and in hover, but is very slow in turning back to horizontal. what do you think about ?

thanks

[kinderkram]

You should first play with Tilt Rate P & I and then increase Tilt Angle D if necessary.

[gionag]

Is it intended to be 0 @ default... Right ? Because for now i've leaved them to stock. Which values are to be expected ?

[JussiH]

[gionag]

So do you think an tilt angle "P" of 20 is wrong ? (the one i use...)

this is the procedure that i use:
reduce tilt angle P until stops oscillating, then, pushing an arm of the quad upward i observed the recovery from that perturbation... so i have adjusted the tilt angle D to have a nice and precise recover without the minum overshoot / undershoot possible...

for the I term i don't know what to look... maybe the persistance at a certain angle ?

and... another thing i can't explain is the role ot tilt rate D. seems to me like the angle D.

can you try to explain more in detail what i have to observe for understand the parameters to tweak ? how do you do that ? i don't think we have to move randomly values until magically fly awesome

[JussiH]

Its all explained in more detail in the Wiki:

http://autoquad.org/wiki/wiki/flying/tu ... eshooting/

[gionag]

reading that : http://autoquad.org/wiki/wiki/flying/tu ... de-tuning/

but how i can check if the rate controller works as expected ? and for the angle ?

in the wiki is well reported the theorical model behind pid... and how is implemented in autoquad. ok... but from a pratical point of view... how can i extimate if the values is ok ? in particular, is very difficult to understand if a problem come from the rate controller (inner loop) or fron the angle (outer loop) one.

there are some empirical method ?

[mr_westie]

The videos show a pretty good example of what to look for.
It helped me.