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ALT Hold and GPS Hold (loiter) Questions!

Posted by Gareth Rens on September 10, 2011 at 10:05am

Hey Guys!

 

I have two questions:

 

1. My altitude hold swings up and down by 20-30cm using the ultrasound sensor.

   My pids for ALT_HOLD are:    P=0.35   I=0.01   D=0.4

 

Which one should I change and by how much?

 

2. In loiter mode, the copter keeps overshooting. by about 8m.

    My pids for LOITER are:    P=2.40   I=0.01   D=1.00

 

Once again, which should I change and by how much?

 

A million thanks!!!

 

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Replies

  • Jan Vervoorst September 10, 2011 at 10:39am

    I might still be understanding the code wrong, but I don't think the D term is used at all in the current alt hold algorithm. Jason?

  • Developer
    Jason Short September 10, 2011 at 10:32am

    Hi, 

    Just found a bug in alt hold that prevents tuning. Please check back in a few hours for a fix to that one. 

    If it's a fast overshoot lower P to something like 2. If it's a really slow overshoot. Increase P by a few points.

    Jason

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