Can some body really good at PID tuning pl's help me. I am in the process of tuning my Quadcopter under stable mode. I was reading the WiKi about this and got a question..
In order to tune it perfectly in Stable Mode along with stable mode P,I, IMax values do i need to also tune Rate Roll (P,I, IMax) values as well?. Or what is the best approach to tune this..Nothing helped me so far my copter is constantly moving away and getting hard to control it.Also what i noticed is no matter how much throttle i am giving still feels like it's not enough.Goes up and down and getting hard to keep it at one position and tune it.What exactly this behavior is?
Experts pl's help me how to tune this..Thanks in advance.
I think Stable Mode only controlling your copter staying up right. When it's stable enough, you can start tuning the attitude hold mode. When that is done, you can then tune the position hold or Loitering mode.
To tune a parameter, usually you zero out the I and D and just tune the P until it get close to what it suppose to do, then you tune the I, etc.
The Stable mode for the Quads uses both the Stabilize and the Rate PID controls. Wesley is correct that the easiest thing to do is zero out the I and D terms, then just work with the P terms. Unfortunately you are still left with a nested P term which can be difficult to tune. The only hint I can give there is that excessive Rate P will tend to give really high frequency wobbles, or possibly even pulsing in the motors resulting in an undetectable wobble. I suspect that would be the behaviour if the Rate P was very high.
Stabilize P being too high will result in larger but slower wobbling.
I'd suggest going back to default PID's, and zero out Stab I and D, and Rate I and D. If it's reasonably stable, the work on Rate I next, as I think it's the next most important.
The up and down, I can't really explain if you are in stabilize mode.
Thanks Wesly & R_Lefebvre for your quick response..Today i got some time to try what you guys told me..Not bad felt little bit comfortable and still using lot's of stick moments with Step 1 : As showing in the picture(let me know if this is what you guys meant).
Tomorrow I will try tuning "I" in in-flight mode by using CH6 option.I will update the results.
Btw regarding throttle issue..I am constantly giving the throttle to keep it in a certain height.Any suggestions pl's let me know.
The I and D to the P...
Can you guys step it back for a really newbie?
I haven't finished building my hexacopter and now I read about tuning and terms that are a totally new language to me. Is there a manual anywhere that explains tuning? and what does I, P and D mean?
This is where i started from..
I am also having hard-time regarding the WiKi manual which is kind of old and not clear for newbie's..I hope DIY team will put little effort to come up with a detailed manual.
Many thanks Kman - this helps explain a lot and the idea of spending upwards of $1000 isn't as scary.
Is there any rule of PID tuning dependant of the mass and dimensions of a copter?
I mean something like biger distance between motors needs greater/smaller P values or havier copter needs greater/smaller P values. The same question for Stab_P and Rate_P.