I built a quick sim today to look for the optimum PIDs for Loiter:
What's looking good is
Loiter_P = .5 or .6 (more = some overshoot, but not much)
Loiter_I = zero (Just say no)
Nav_P = 4 (Higher than I thought, What will it do to navigation?)
Nav_I = .25 (Higher than I though, but still large like it should be)
Let me know if anyone proves this out!
Jason
http://wiki.ardupilot-mega.googlecode.com/git/images/copter_wp.swf
Here's why Loiter_I is a bad idea. It just ends in overshoot.
Here is Loiter_P from .5 to 1.8 (lower looks better)
This is Loiter kp 1, Loiter kI 0, Nav_kP 2 through 10, Nav_kI .2
Here it is in action:
Replies
Jason,
could you elaborate more on how do you build a theoretical model of your quad for the simulations?
What variables have you taken into account to define the model behaviour?
Weight? motors thrust? motor2motor length?
I assume the simulation is specially tuned for your frame that is probably a standard arducopter frame, isn't it?
In case these variables are used in the simulation, maybe you could make it available in the GUI for simulations with other frames......
I'm just speculating....
Thanks.
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