I have a weird problem with my Hexa (ArduCopter). I noticed that from even from a faint breeze, my copter tries to flip (very harsh reaction) in all flight modes. I tried tuning almost every PID, but…Continue
I have a weird problem with my Hexa (ArduCopter). I noticed that from even from a faint breeze, my copter tries to flip (very harsh reaction) in all flight modes. I tried tuning almost every PID, but none seem to have an effect.I connected with the APM Planner program, and opened the tuning graph. I see that the graph won't start to react for a few minutes. If I wait with the copter a few good minutes until I see the graphs changing and then take off, my copter flies fine and doesn't try to…See More
"Hmmm, I had a similar problem, as the copter would drift away and hold a very big radius from the hold position. Perhaps it's related to the GPS. Have you tried using the uBlox Lea 6 GPS with the same params?"
"the gyro do all the work in stabilization. The Baro in altitude. The accels are used to correct the Gyros over time and to do some fanciness with inertial nav (in 2.9).
It's way more complicated then that, but it's a start.
The ground control gets the sensors data in a status package, which seems to be called "heartbeat". To understand how MavLink works, I see there are some sites, but best to learn from up-to-date code (AC and in the APM,…"
"Thanks Steve, I am looking at altitude hold (in altitude.pde). Hmm, now how does the PID (PI) get it's input. Next to learn should be a position hold function somewhere? There is also a sensors.pde which seems to just get the readings from…"
"Perhaps a simpler way to get an idea of how PIDs work is to look at a function like altitude hold. Here the sensors give an estimate of the current altitude, and the desired altitude. The difference is used to decide whether to go up or down and how…"
"It's not that simple thing to answer. There are no "this PID, this sensor" settings at all. All attitude calculation is calculated in DCM algorithms and PID settings are controlling those algorithms. So as simple as possible, if you…"
Hi all :-) I am trying to learn the AC code to the arduino to somewhat understand how this alien flies. I read on the wiki all about PID, but I don't seem to see what sensors and information goes to which PID. Anybody can point this out to me? Thanks! See More