As a newbie to multirotor flight, I decided that the use of an Ardustation and Xbee link would be the easiest way to set up the PID's.
Thanks to excellent after sales guidance by Martin ( BYOD ) the system is up and running on 0022.
During my practice attempts at tuning, I noticed the following on the Ardustation display:-
1. There was no access to the 'D' term in the PID's
2. Only 33 of 36 parameters downloaded.
3. The 'BR' reading in 'Flight Data' sits at a random number, and does not move. I take it this is the Bearing indication from the magnetometer?
Has anyone else got similar results to this, if so, are they normal?. If not, would an upgrade to the latest Ardustation download do the job.
Thanks
Replies
George,
I think I now understand - those are Arduplane tuning parameters - those below are what would show up as parameters if the Ardustation detects an Arduplane (2.3.0) sending Mavlink data.
case 0: { strcpy_P(buffer, PSTR("RLL2SRV_P")); break; }
case 1: { strcpy_P(buffer, PSTR("RLL2SRV_I")); break; }
case 2: { strcpy_P(buffer, PSTR("RLL2SRV_D")); break; }
case 3: { strcpy_P(buffer, PSTR("RLL2SRV_IMAX")); break; }
//SRV_PIT
case 4: { strcpy_P(buffer, PSTR("PTCH2SRV_P")); break; }
case 5: { strcpy_P(buffer, PSTR("PTCH2SRV_I")); break; }
case 6: { strcpy_P(buffer, PSTR("PTCH2SRV_D")); break; }
case 7: { strcpy_P(buffer, PSTR("PTCH2SRV_IMAX")); break; }
//SRV_YAW
case 8: { strcpy_P(buffer, PSTR("YW2SRV_P")); break; }
case 9: { strcpy_P(buffer, PSTR("YW2SRV_I")); break; }
case 10: { strcpy_P(buffer, PSTR("YW2SRV_D")); break; }
case 11: { strcpy_P(buffer, PSTR("YW2SRV_IMAX")); break; }
//NAV_RLL
case 12: { strcpy_P(buffer, PSTR("HDNG2RLL_P")); break; }
case 13: { strcpy_P(buffer, PSTR("HDNG2RLL_I")); break; }
case 14: { strcpy_P(buffer, PSTR("HDNG2RLL_D")); break; }
case 15: { strcpy_P(buffer, PSTR("HDNG2RLL_IMAX")); break; }
//NAV_PIT_Alt
case 16: { strcpy_P(buffer, PSTR("ARSP2PTCH_P")); break; }
case 17: { strcpy_P(buffer, PSTR("ARSP2PTCH_I")); break; }
case 18: { strcpy_P(buffer, PSTR("ARSP2PTCH_D")); break; }
case 19: { strcpy_P(buffer, PSTR("ARSP2PTCH_IMAX")); break; }
//NAV_PIT_Alt
case 20: { strcpy_P(buffer, PSTR("ALT2PTCH_P")); break; }
case 21: { strcpy_P(buffer, PSTR("ALT2PTCH_I")); break; }
case 22: { strcpy_P(buffer, PSTR("ALT2PTCH_D")); break; }
case 23: { strcpy_P(buffer, PSTR("ALT2PTCH_IMAX")); break; }
//Engery/Alt
case 24: { strcpy_P(buffer, PSTR("ENRGY2THR_P")); break; }
case 25: { strcpy_P(buffer, PSTR("ENRGY2THR_I")); break; }
case 26: { strcpy_P(buffer, PSTR("ENRGY2THR_D")); break; }
case 27: { strcpy_P(buffer, PSTR("ENRGY2THR_IMAX")); break; }
//Other Mix
case 28: { strcpy_P(buffer, PSTR("KFF_PTCH2THR")); break; }
case 29: { strcpy_P(buffer, PSTR("KFF_PTCHCOMP")); break; }
case 30: { strcpy_P(buffer, PSTR("KFF_RDDRMIX")); break; }
case 31: { strcpy_P(buffer, PSTR("KFF_THR2PTCH")); break; }
case 32: { strcpy_P(buffer, PSTR("XTRK_GAIN_SC")); break; }
case 33: { strcpy_P(buffer, PSTR("XTRK_ANGLE_CD")); break; }
case 34: { strcpy_P(buffer, PSTR("SONAR_ENABLE")); break; }
case 35: { strcpy_P(buffer, PSTR("MAG_ENABLE")); break; }
case 36: { strcpy_P(buffer, PSTR("ARSPD_ENABLE")); break; }
For Arducopter, these are the parameters:
case 0: { strcpy_P(buffer, PSTR("RATE_RLL_P")); break; }
case 1: { strcpy_P(buffer, PSTR("RATE_RLL_I")); break; }
case 2: { strcpy_P(buffer, PSTR("RATE_RLL_IMAX")); break; }
case 3: { strcpy_P(buffer, PSTR("RATE_PIT_P")); break; }
case 4: { strcpy_P(buffer, PSTR("RATE_PIT_I")); break; }
case 5: { strcpy_P(buffer, PSTR("RATE_PIT_IMAX")); break; }
case 6: { strcpy_P(buffer, PSTR("RATE_YAW_P")); break; }
case 7: { strcpy_P(buffer, PSTR("RATE_YAW_I")); break; }
case 8: { strcpy_P(buffer, PSTR("RATE_YAW_IMAX")); break; }
case 9: { strcpy_P(buffer, PSTR("STB_RLL_P")); break; }
case 10: { strcpy_P(buffer, PSTR("STB_RLL_I")); break; }
case 11: { strcpy_P(buffer, PSTR("STB_RLL_IMAX")); break; }
case 12: { strcpy_P(buffer, PSTR("STB_PIT_P")); break; }
case 13: { strcpy_P(buffer, PSTR("STB_PIT_I")); break; }
case 14: { strcpy_P(buffer, PSTR("STB_PIT_IMAX")); break; }
case 15: { strcpy_P(buffer, PSTR("STB_YAW_P")); break; }
case 16: { strcpy_P(buffer, PSTR("STB_YAW_I")); break; }
case 17: { strcpy_P(buffer, PSTR("STB_YAW_IMAX")); break; }
case 18: { strcpy_P(buffer, PSTR("CAM_P_G")); break; }
case 19: { strcpy_P(buffer, PSTR("CAM_R_G")); break; }
case 20: { strcpy_P(buffer, PSTR("WP_SPEED_MAX")); break; }
case 21: { strcpy_P(buffer, PSTR("NAV_LAT_P")); break; }
case 22: { strcpy_P(buffer, PSTR("NAV_LAT_I")); break; }
case 23: { strcpy_P(buffer, PSTR("NAV_LAT_IMAX")); break; }
case 24: { strcpy_P(buffer, PSTR("NAV_LON_P")); break; }
case 25: { strcpy_P(buffer, PSTR("NAV_LON_I")); break; }
case 26: { strcpy_P(buffer, PSTR("NAV_LON_IMAX_")); break; }
case 27: { strcpy_P(buffer, PSTR("THR_RATE_P")); break; }
case 28: { strcpy_P(buffer, PSTR("THR_RATE_I")); break; }
case 29: { strcpy_P(buffer, PSTR("THR_RATE_IMAX")); break; }
case 30: { strcpy_P(buffer, PSTR("HLD_LAT_P")); break; }
case 31: { strcpy_P(buffer, PSTR("HLD_LAT_I")); break; }
case 32: { strcpy_P(buffer, PSTR("HLD_LAT_IMAX")); break; }
case 33: { strcpy_P(buffer, PSTR("HLD_LON_P")); break; }
case 34: { strcpy_P(buffer, PSTR("HLD_LON_I")); break; }
case 35: { strcpy_P(buffer, PSTR("HLD_LON_IMAX")); break; }
case 36: { strcpy_P(buffer, PSTR("LOITER_LAT_P")); break; }
case 37: { strcpy_P(buffer, PSTR("LOITER_LAT_I")); break; }
case 38: { strcpy_P(buffer, PSTR("LOITER_LAT_IMAX")); break; }
case 39: { strcpy_P(buffer, PSTR("LOITER_LON_P")); break; }
case 40: { strcpy_P(buffer, PSTR("LOITER_LON_I")); break; }
case 41: { strcpy_P(buffer, PSTR("LOITER_LON_IMAX")); break; }
case 42: { strcpy_P(buffer, PSTR("STAB_D")); break; }
case 43: { strcpy_P(buffer, PSTR("STAB_D_S")); break; }
case 44: { strcpy_P(buffer, PSTR("ACRO_P")); break; }
case 45: { strcpy_P(buffer, PSTR("AXIS_P"));break; }
case 46: { strcpy_P(buffer, PSTR("AXIS_ENABLE"));break; }
I think you have the Mission Planner set to Arduplane mode instead of Arducopter. In Arducopter mode the parameters should map correctly.
Heino
I have the code modified to compile under Arduino 1.0 relax and I have updated the parameters to match Arducopter 2.5.3. I tested tonight and I'm having some small issues that I should be able to fix in the next day or so. This version will be 12 and it will now support 42 parameters for the complete set of PIDS. I'll post a blog post when the release is ready.
Heino
George,
What software did you load into your Ardustation and your multirotor? The parameter values that can be edited change from one release to the next of ACM. The Ardustation software that you loaded must match the ACM software and ACM 2.5.x has been changing rapidly.
Heino