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PID Tuning

Posted by Peter Koppendorfer on September 3, 2011 at 8:35am

hello,

 

I'm just about to perform the PID!

 

I would have to screw with my copter the P levels to be as down wit that I'm no vibrations!

 

 

But then I have too little influence from my RC

 

which parameter I must change so that the remote control had more influence

 

 

Thanks

Peter

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Replies

  • emile September 4, 2011 at 2:50am

    Did you try to play with P-rate?

    This parameter influences a lot the behaviour.

    Also if you want o make your rc more sensible you have to change the code. In the radio.pde when input channels are set up you can make maximum angle more steep. By default it is setup to 4500 (45°) but you can go up to 90° I think.

    g.rc_1.set_angle(4500); is for roll

    g.rc_2.set_angle(4500); is for pitch

     

    There was also one nice feature with a variable scale_output that would be multiplied by the input value, but it has been commented out for some reason. 

    Beware that changing maximum angle will make you copter lean more...

    Hope this helps.

    Cheers,

    Emile 

     

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