Discussions

Can someone PLEASE share their Loiter PID's.

Posted by Peter on June 29, 2011 at 9:42pm

Hi guys, I am not having much luck with loiter settings, the quad holds steady and the slowly starts to drift one way, and then another way and gets faster and faster and then it cant steady itself.  Looks like a game of table tennis in the air.

 

Any help would be appreciated.

 

Regards Pete

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Replies

  • James Roney July 8, 2011 at 10:01am

    Hi Chris,

     

    Here we go, you can rape the code out of the page if you like and then just save it to where ever if you dont want to use my domain as reference.  Heres the page.

     

    http://www.rightclicktech.co.za/applets.html

     

    Regards,

    Solo.

  • James Roney July 8, 2011 at 9:48am

    Hi Chris,

     

    Yeah, maybe so we dont have to have the side bars to make it a lil prettier.  I still think its totally awesome just having the info there though.  I also thought of maybe embedding them side by side.

     

    Tell you what, let me do it quick and then you can decide... easy as pie :)

     

    Regards,

    James

  • James Roney July 8, 2011 at 9:30am

    Chris,

     

    If I create a page with the swf's embedded already and publish them,  Would that help you at all?

     

    Regards,

    Solo.

  • James Roney July 8, 2011 at 8:45am

    Hi,

     

    Instead of inbedding the whole page, here are the links directly


    http://ardupilot-mega.googlecode.com/svn/ArduPilotMegaImages/Copter...
    http://ardupilot-mega.googlecode.com/svn/ArduPilotMegaImages/Copter...

    Simply specify the dimension of each .swf when you publish.

     

    You can actually just click on the link here and it will take you to them.

     

    Regards,

    Solo.

  • James Roney July 8, 2011 at 4:20am

    Morning,

     

    Flash PID Tuners?  Where that, where can I have a look at it?

     

    Regards,

    Solo.

  • Developer
    Jason Short July 5, 2011 at 10:28am

    Try these PIDs

    NAV_LOITER_P  1.2

    NAV_LOITER_I   0.01

    NAV_LOITER_D  0.3

    NAV_LOITER_IMAX 10

     

    The i term may have been ramping up causing the overshoot.

     

     

  • 100KM
    u4eake July 5, 2011 at 8:00am
    Can the loiter radius be set to zero ? Or would that introduce nasty division by zero errors, (copter has crashed, do you want to send error report :-) )
    I actually don't want my hexa to run around in circles, I just want it to hold position.

    Glad to read that altitude hold has been fixed in 2.0.33. I'll upgrade probably today (though it's a pain cause I have some custom code to blink leds when battery gets low and I implemented a restriction so that RTL doesn't engage on low battery when in stabilise, simple or acro)

    Been testing RTL yesterday and it works nicely, but I have some remarks. RTL is determined at first good GPS lock after booting the APM. This is sometimes inconvienient, eg if I connect the hexa in the stationary area, RTL is in there too, which sends the copter flying towards my fellow pilots in the stationary area. Not so nice :-) Would it be hard to set RTL home when arming motors ?
    Further I found that my copter largely overshoots its home point (10-20m) then turns around, overshoots again etc. After a few rounds, I had to take over, cause it also kept climbing (due to alt hold error I presume, which should now be ok then).
    I tried to up NavD a bit, but didn't see much improvement. It is Nav_D that is used for RTL, right ?

    Thx for all help !
    U4
  • 3D Robotics
    Chris Anderson July 5, 2011 at 7:41am
    Angel : Glad to hear that altitude hold is now solid. We'll refine Loiter over the next few versions so it's solid for most airframes right out of the box. The PiratesNG code is just a derivative of out own original ArduCopterNG code so we do know how to do this ;-)
  • afernan June 30, 2011 at 2:09pm
    Exactly the same here. I'm updated to 2.0.29. I've also put all trims to 0 and after that I ran leveling in flight. But once start loiter it start moving aroudn the loiter point amplifying in each correction. After 2-3 runs i must go stabilize to avoid the crash.

    Regards

    Angel
    Madrid-Spain
  • 3D Robotics
    Chris Anderson June 29, 2011 at 10:17pm
    What airframe are you using and which code version?
This reply was deleted.

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