Hi,
So I am currently working on a project that uses an external single board computer running a custom python script and Pymavlink to communicate with the Pixhawk which in onboard a 3DR x8 platform. I currently have my altitude PID controller generating throttle PWM values that are then sent to the Pixhawk. To control attitude I dug through the arducopter firmware and found out how the firmware takes the RC handset roll, pitch, and yaw pwm sent values and converts them to a roll, pitch or yaw angle which is then controlled and was wondering if there was a similar function that converts the throttle pwm commands? The reason I ask is that I am currently having a hard time tuning my throttle PID gains to get a stable altitude controller.
Any other ideas on control strategies would also be greatly appreciated.
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