IN wiki,I have found a picture about PID.And I want to know why did ArduCopter need coordinate transformation form earth to body frame in stabilize roll\yaw\pitch PIDs.
Thanks !
Wish for an answer!
You need to be a member of diydrones to add comments!
Replies
Because the motor outputs, and thus physical reaction of the machine, is all done in body frame. When we used to do everything in earthframe, there were errors that resulted from this, leading to mushy performance.
OK ,thanks for your hei