Discussions

PID Suggestion

Posted by Paul Thunder on October 10, 2012 at 8:34am

Hi

I have a Quad with 900KV 400Watt motors, 12X4.5 blades, motor to motor distance is 70cm, I'm using APM2, entire Quad weight is 2.7kg. Each motor thrust is 1550g, so it can handle this weight so easily.

Now, I want to know some initial basic suggestions for entire PID parameters from experts, I've read all instructions and all documents on PID. I want a calculator or an initial suggestion.

Could you experts advice?


Thanks

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Replies

  • Developer
    Jason Short October 11, 2012 at 9:11am

    The defaults are set for s 3s battery running 850Kv motors, and 10 inch props.  

    The Rate_P gain is used to convert desired rotation to motor PWM. If your motor produces a lot of thrust, you don't need such a high value. You can start lower and raise it until it oscillates in the air. Then back it off until it's just a little unstable. Then increase the rate_D term from 0 to .004. See it that makes it better and brings it to the sweet spot. 

    The D term isn't that useful unless you push your P term right to the edge of acceptable flight. The D term can fix that last bit of instability and make the thing very nimble in the air.

    Jason

  • Paul Thunder October 10, 2012 at 10:30pm

    My weight is because of LiPo battery, it's 20,000 mAh. So do you think in WP and Auto mode, no modification is required to make Copter move better and faster? My copter in Auto mode doesn't rotate or move to target fast, also cannot hold position in some winds. Thanks

  • Silvio October 10, 2012 at 11:28am

    Hello,

    I have a Quad like you but only 1.9Kg ;) 700KV motors 180W

    I Fly with the Default settings, except Rate

    P = 0,09

    D = 0.02

    I have tested many hours other values​​, but no big differences,,,

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