Just another Question to add to this
could it b my esc's at the moment its all default?
wat changes should i make to them??
Please share some more details on your setup.
Like motors, escs frame,prop size etc.
arms 28cm (default arducopter frame)
Just tried this to find the PID for the sonar Altitude Hold.
By finding the maximum P where the AH starts to oscillate (copter goes up-down-up-down in rapid a/decends)
by timing, with a stopwatch for 10 cycles the average gave me Pu Unfortunately i hade a blade-off during te last test flight so could not implement the calculated PID. Still wondering about how high the gain (intmax) of this loop could be calculated.
[adapted from wiki]Ziegler–Nichols method
|PI||0.45Ku||1.2Kp / Pu||-|
|PID||0.60Ku||2Kp / Pu||KpPu / 8|
Here is how I found the current gains:
Just playing with this
p = 0.8
i = 0.02
d = 1
I have mass and gravity in the sim. No throttle curve but that would be trivial to add. BTW, hit the space bar to cause an engine failure...
(you need to click on the animation to give t keyboard focus first)
I meant trivial to replicate a curve in code. Not to measure the output of a prop! ha. I'd loose a finger trying that.