I'm starting this discussion since there's a lot of confusion and lack of knowledge about PID settings and control theory, so, you can find here a table with several different frames, multycopter types and firmware versions in order to let you start flying and tuning your copter. Be aware that this are not rigid values. Each person has it's own configuration and flying preferences, but, if you have an identical configuration, you may start using those values and tune them for yourself. If you'd like to share your configuration, specs and settings, as well as flying tests, weather conditions and videos, I'll try to keep it up to date.
Ok, I have inserted a googledocs file, never worked with this before :) It looks easy, here's the link
One quick tip: the stock PIDs are optimised for a Jdrones/3DR quad using 850 motors and 10" props. If you're using 880 motors and 12" props (more more powerful), the first change you should make is to turn down RATE_P to something like .1 or .09 or you'll have stability issues.
Great tip Chris!
I will even put it on the product description of the 880kv... It can save some initial frustration to beginners!
So, Chris was saying how it might not be possible to have a wizard with sliders, that can tune PID values for certain macro frame characteristics, like motor power and frame size. I'd like to try my hand at it, since I've already been looking at the Mission Planner code.
Just to be clear here... is this thread supposed to be a place to ask 'what PID settings should I use', or are we working out an easy to follow method of tuning a copter, by going mode by mode, one step at a time?
Don, why not both? Any learnings from here, can be used to implement a tuning wizard.
I asked mostly because 'what PID settings should I use" isn't a question that can be definitively answered. The only way to really answer that, is "No one knows exactly what your PID values will be, but here is a starting point, and how you can work them out yourself."
Ive only just started my flying but here are mine Rui. I added some items below not on your sheet so maybe you can add them.
Quad X8 (coaxial 2 motors per arm)
3300mAh 4C or 5000mAh 3C
Droidworx ADR Quad Standard, (72cmx72cm across)
Flight weight 2.4kgs
8 Props 12x4.5
ESC 30A Jdrones
APM power supply. 5V, 3amp switching regulator (SVR3 Tahmazo)
Sonar XL-EZ0 (MB1200)
Roll/Pitch Stab: P = 3.8, I = 0.02, IMAX = 40.0
Roll/Pitch Rate: P = 0.155, I = 0.00, IMAX = 3.0
Yaw Rate: P = 0.130, I = 0.00, IMAX = 50.0
(I dont see Rate D ?)
Loiter: P = 1.0, I = 0.038, IMAX = 30.0
Stab Yaw: P = 7.500, I = 0.010, IMAX = 8.0
NAV WP: P = 2.198, I = 0.148, IMAX 30.0, m/s = 6.0
Throt: P = 0.500, I - 0.00, IMAX = 3
Allt Hold: P = 0.4, I = 0.01, IMAX = 3.0
ACRO Roll/Pitch : P = o.155, I = 0.0, IMAX = 15
Cross Track: Gain = 100.0
Following is my finding so far. Keep in mind I have not flown in no wind conditions yet. First round of flights were in 15klm to 20klm wind and second round of flights were in 5 to 8 kmh wind. I suggest wind speed be added to test data on your sheet.
Stabilize/Simple works ok but need more testing. Yaw wanders around more than I would thought it would
RTL is slow and wanders . In the wind I wasn't patient enough to wait for it to land
Loiter sort of holds but wanders a bit.
You won't have the rate D terms unless you are running the PIDT1 control structure which people are trying out. Still not sure what the devs are going to implement in the next "official" release. Stab D term is used with your setup, and it would be found in the parameter list.
I was looking up information to start writing my own personal set of tuning procedures, and came across this from Aeroquad. It covers Acro (rate) and Stabilize (attitude) modes very thoroughly, which is the basis for tuning any other Arducopter modes. I've now scrapped the work I started, and copy/pasted that.
Stabilize mode is the one that locks the heading to where you've yawed to. It's like heading lock in helicopters, but works better. Simple mode will yaw in the direction you are heading to.
Stability mode is supposed to lock your head. If you lifted off heading forward, it will stay forward, unless you yaw it manually. Then it will yaw to where you want and then lock to that. If it yaws without your manually doing it, then you need to adjust your yaw stability PI values.
ok, now i understand it, thanks Ellison. Ive not tried any modes without simple yet as i was worried about having enough to control with Pitch, Roll and Throt. Next time I will give stab without the simple mode and see how it works.