PID tunning

Hi all

I am building a new quadcopter, using PX4 and rotor, ESC from 3DR

I have a problem relating to PID tunning. I am using Mission Planner >>Config/Tuning>>Extended Param to send my values to my Drone

This is what I am doing:

First, I follow this guide to find a P value: http://copter.ardupilot.com/wiki/ac_rollpitchtuning/

Second, when the Drone oscillates, I can find the Tu, and try to apply Ziegler Nichols method (https://en.wikipedia.org/wiki/Ziegler%E2%80%93Nichols_method) to find I, D values for both Roll&Pitch

Results are not as good as what I want, in Pitch axis, my Drone always be skewed

If anyone solved this problem or another solution, please help me

Thank you very much 

19836392483_a1de6d5ea4_z.jpg

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Replies

  • Continue to use the method you are currently using to find the P value just before oscillation and then back it off a little bit. Once you have found that, slightly raise the D term you reach an oscillating state and then lower it. At this time it should be controllable to move to outside testing. If you can achieve a stable hover trying use Autotune from here. If you get oscillations at takeoff lower your P value slightly and try again. The bench testing method will only get you in the ballpark. in flight tuning / autotune will get you the rest of the way. 

  • I added the video I tested on Youtube : https://www.youtube.com/watch?v=RhTdd01-2KU

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