Discussions

PID Tuning on your ArduCopter

Posted by Hein on August 22, 2010 at 11:31pm

I have just finish building my Quad. There are lots of information on setting up the quad and configuring it with Configurator. Thank you for all these details. My quad is working, (haven't tested GPS or Magnetometer yet) motors arm correctly and I can get it in the air with Acrobatic mode. Yet there is lost of tuning to be done.

Does anybody have some details in tuning all these different PID values (Acrobatic, Stable, Position Hold, Altitude Hold). Where do I start? I believe my quad only needs lots of tunning in order to function well.

Please help.

Thanx again for this Project. Can not wait to get my hands on the developed frame.

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Replies

Antonio December 16, 2010 at 12:56pm

Hi John,

Just out of interest can you share your PID gains in stable.

Tony
John C. December 16, 2010 at 12:39pm

So, I've got the Stable mode to where it works well enough for me.

The position hold is proving to be a little more difficult. The first couple of passes are damn close, but then it starts magnifying its corrections, and get's way out of whack.

What's the best way to go about doing PID on the position hold? I turned everything to 0 except P, and I'm not getting what I'm looking for.

JC
Moderator

John Church November 27, 2010 at 10:07am

Read this and change a regional setting:
http://www.diydrones.com/forum/topics/configurator-save-calibration...
michel pet November 27, 2010 at 9:48am

the dot is not responding that's the problem.
michel pet November 26, 2010 at 1:02pm

i have a problem with the pid setup.
wen i give a 1 its OK wen i set 1,2 i get an error. can someone tel me wat`s wrong.

configurator 1.2.2
ardupirates 1.5
Ed Stewart October 13, 2010 at 10:59am

I'm not a programmer or an engineer but I have installed a bit of process control equipment with PID functions and it's a common practice to have the controller exercise the system dynamics and set the PID values for you (although the process's were a lot slower). And I've seen descriptions of 'if your quad does this then change this' type information which seems like something that could be supported in a calibration routine. There are some brilliant people working on this project, could someone give me a simple reason why it's not practical?
Leonardo Lisboa October 13, 2010 at 2:49am

There are some tips in Aeroquad website about PID calibration.

http://aeroquad.com/content.php?125

Because both projects are very similar, try using the tutorial they provide and see if that works fine for you.

Regards,
Leonardo

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Tom October 12, 2010 at 11:35am

OK the frame weight is 875g and from center of motor two center is 24inch hope this will help thank you Tom
Öncü Kayalar October 12, 2010 at 10:41am

Tom, I did fly with default PIDs. If you can write details of your quad (weight, distance between motors, motors etc.) we may help you.
Öncü Kayalar September 18, 2010 at 3:47am

I also have difficulties tuning the PID values. Maybe more experienced members would like to share knowledge and experiences here.

My observations are (for pitch PID tuning - stable mode):

- Quad position always ends in nose down position if P < 1.5 and/or D < 1.2 (I = 0.1)
- Quad oscillates (perfect sinusoidal wave) if P = 1.5 and D = 1.2 (I = 0.1)
- If I < 0.1 quad can not level itself (stops leveling at some angle)

And my setup for PID tuning (currently for pitch):