ArduCopter Configurations and Settings for beginners !
Hello.
I'm starting this discussion since there's a lot of confusion and lack of knowledge about PID settings and control theory, so, you can find here a table with several different frames, multycopter types and firmware versions in order to let you start flying and tuning your copter. Be aware that this are not rigid values. Each person has it's own configuration and flying preferences, but, if you have an identical configuration, you may start using those values and tune them for yourself. If you'd like to share your configuration, specs and settings, as well as flying tests, weather conditions and videos, I'll try to keep it up to date.
Thanks.
Ok, I have inserted a googledocs file, never worked with this before :) It looks easy, here's the link
Tags: arducopter, configuration, multicopter, pid, pid settings, quadcopter, settings, tuning settings
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Replies to This Discussion
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3D RoboticsPermalink Reply by Chris Anderson on -
One quick tip: the stock PIDs are optimised for a Jdrones/3DR quad using 850 motors and 10" props. If you're using 880 motors and 12" props (more more powerful), the first change you should make is to turn down RATE_P to something like .1 or .09 or you'll have stability issues.
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DistributorPermalink Reply by Dany Thivierge on -
Great tip Chris!
I will even put it on the product description of the 880kv... It can save some initial frustration to beginners!
Dany
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Permalink Reply by Rui Manuel Cravo Marques on -
Thank you Chris, I will input these values as starting point for JDrones/3DR frames :)
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Permalink Reply by Bradley J Carr on -
Chris I have the 11" props. with the 880 motors. Is there a change I need to make?
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Permalink Reply by Ellison Chan on -
So, Chris was saying how it might not be possible to have a wizard with sliders, that can tune PID values for certain macro frame characteristics, like motor power and frame size. I'd like to try my hand at it, since I've already been looking at the Mission Planner code.
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Permalink Reply by Derek Ernewein on -
Hello,
Any progress on a wizard for suggested PID values?
I am setting up my 1000mm quadcopter with a custom made frame and I expect to have problems :P
I tried with the default PID settings just to see what it was like and I found it would over correct. This makes sense due to the larger arms. But if you can come up with a wizard to help that would be great.
There appear to have been several of these 'share your PID settings' threads and none seem to get that many people posting. I think this is proof that a lot of people are not sure that what they have is good or not.
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Permalink Reply by Don Brooks on -
Just to be clear here... is this thread supposed to be a place to ask 'what PID settings should I use', or are we working out an easy to follow method of tuning a copter, by going mode by mode, one step at a time?
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Permalink Reply by Ellison Chan on
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Don, why not both? Any learnings from here, can be used to implement a tuning wizard.
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Permalink Reply by Don Brooks on
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I asked mostly because 'what PID settings should I use" isn't a question that can be definitively answered. The only way to really answer that, is "No one knows exactly what your PID values will be, but here is a starting point, and how you can work them out yourself."
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Permalink Reply by Don Brooks on
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I was looking up information to start writing my own personal set of tuning procedures, and came across this from Aeroquad. It covers Acro (rate) and Stabilize (attitude) modes very thoroughly, which is the basis for tuning any other Arducopter modes. I've now scrapped the work I started, and copy/pasted that.
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Permalink Reply by Dave C on -
Thanks Don, I'll study this!
I'm doing a lot of hand testing at the moment, currently with PIDT1. Igors instructions were really easy for me to follow and its given me a much greater understanding of whats going on. I've posted a vid of the results in the 2.2 thread. My intention is to do a couple of videos, one like Igor starting with Zero in all the params adding in rate_d first etc. The other starting with a very stable quad and showing what happens if you play with each setting. If its a good visual demo I'll post it for all to see. Then I'll have a go when the b6 or whatever it'll be called is available.
The hand test (with safety gear) is a very safe way check that everything is Ok before you let her go. I had what i thought was a very stable quad - locked-in hover, but before i took it out i decided one more hand test... tried full throttle for a second - big shakes, so i backed off my rate_I and D, just very slighty and it settled right down under high throttle. Flies beautifully.
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