tethered drone - impact on PID

Hi all,

I had a really bad experience with IRIS+ fly away (RC lost control) which makes me to think about tethering a drone to do flight test. The idea is not to let my new drone to fly freely unless some basic flying test is done under RC control. What I'm contemplating is to use fishing reel to hook the drone to let it fly high enough (say 30 meters) to perform flying test. Once it passes basic test, it can then be released for free flight, which can be done using remote control so that the tether line can be unhooked from the drone side.

The main concern I have is the impact on flying dynamics, particularly on PID controller. This can be worse in windy condition wind as tether could pose significant force which is non-trivial interference to the control system.

The other concern is if bad stuff happens, I'll have to pull the drone back. In this case, is it possible at all to pull it back? I remember I had one incident where the controller went crazy and I had to use my hand to pull the drone down. I could feel the drone was fighting against my pulling vigorously upwards.

My questions are:

1. PID control - will the PID parameters tuned for free flight be much different from the PID parameters tuned for tethered flying?

2. Pulling back - Maybe this is achievable  when using reduced throttle level? Has anyone done similar experiment? Any knowledge/suggestions can be shared here to avoid unexpected?

Thanks for you comments,

Lichang

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