Hello,
Im having hard time trying to configure PID in my Arducopter. Im using Ardupirates code but as i do know PID's are that same in Ardupirates and Arducopter code, so maybe some of you guys can help me a bit.
My Quad have 50 cm motor-motor distance, 850 kV RcTimer motors with APC 10x4.7 props, HK SuperSimple ESCs and 1 kg RTF weight. I dont have any magnetos, GPS, and sonars, just simple "basic" setup.
First of all, default PID settings gave very bad results in stable mode (P:4.0, I:0.15, D:0.9 if i do remember), quad had so terrible oscilations that only thx great luck it landed undamaged. After many tests i found that it flies stable with P equal or less 1.5, other values are default. But it creates other problem, unfortunatelly i found that with so low P quad is VERY lazy for transmitter commands. It already created dangerous situations where those couple seconds of delay were too long, lucky it ended only at one broken prop and one leg.
When i rise P to 1.8 or higher, reaction to TX commands is changing to "acceptable", but quads suffer some oscilations. Not dramatical, but noticable, specially when there is some wind. I changed D to 0.8 and then 0.75 with hope that it will allow to smooth those oscilations, but there was no noticable improvement.
So looks like as for now i can choose - i can have acceptable response for TX commands with oscilating quad, or stable quad with very weak control.
Had someone of you such situation ? I found that Kp parameter is not implemented yet, so i cannot "rescue" myself by that. I dont know in fact what i can do now, any ideas ? I see only solution in form of changing all motors to higher kV type with smaller props. Im planning to add some FPV gear so i need about 1 kg of trust for each motor.
Greg
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