PIDs for mini quad - please help

Hi all,

I've built a ZMR250 based on mini APM 3.1. I'm using Multistar 2206 2150kv motors with Afro 12A ESCs and 6x2 carbon props. All the components are linked below.

The mini quad is flyable with stock PIDs and it actually loiters, RTHs, ... really well, here is a loiter example:
http://youtu.be/E4UVh4dDf4U

These are the stock PIDs, which I use:
http://www.michaelransburg.com/pids/pids.png

As expected, the problems start to appear in normal flight (stabilize mode), since I suppose the stock PIDs are intended for a much bigger quad. The resulting unsmooth flight behaviour with stock PIDs can be seen in this video:
http://youtu.be/Gx5zVWF2AIQ

I have, so far, no experience in tuning PIDs, but I'm eager to learn in order to get smooth flight. I have tried autotune which resulted in catastrophic PIDs turning the quad unflyable - I had to rebuild the GPS tower because of the resulting crash when trying to fly with the autotune PIDs - which is why I want to learn how to tune the PIDs manually. I would really appreciate any tips on the meaning of the different PIDs and any help in getting my PIDs right for my mini quad would be really really appreciated.

Many thanks and all the best,
Michael

ps: Here is the eqipment which I used:
ZMR250: http://www.banggood.com/H250-ZMR250-250mm-Carbon-Fiber-Mini-Quadcopter-Multicopter-Frame-Kit-p-933185.html
Mini APM 3.1: http://www.banggood.com/MiniAPM-V3_1-Flight-Controller-With-GPS-Module-p-941834.html
Motors & ESCs: http://www.hobbyking.com/hobbyking/store/uh_viewitem.asp?idproduct=66977&aff=1514
Props: http://rctimer.com/product-1180.html

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –

Replies

  • Hi Ray,

    Is their a chance you could share you PID settings please. I tried Auto tune and setting manually, but still not flying very good in slightest wind. I am interested in IMAX and FILT settings.

    Regards

    Henry

    Ray Gamero said:

    one thing i noticed after building a new 250 with pixhawk is that I needed to change my INS filters from 20hz to 40 hz.  made a huge difference.

  • one thing i noticed after building a new 250 with pixhawk is that I needed to change my INS filters from 20hz to 40 hz.  made a huge difference.

  • This ist one of the best tuning guides I know: http://diydrones.com/forum/topics/arducopter-tuning-guide. Even if it refers to a very old Arducopter version, it is still valid for rate roll/pitch tuning.

    • have a hoverthings 260 with APM. With stock PIDs it flys just ok. Tried autotune but it would not engage or it would quit part way through. Decided to search for some 'example' PIDs on a 250 or 260 that folks have had success with. Came across the above screenshot fro Raphh and a few others. When I try to input these into mission planner it seems the min range for rate roll P will not allow numbers that low. Has there been a change in mission planner min/max settings? Perhaps what used to be known as 0.0420 is now some other number?

      Screenshot_2015-07-13-21-10-08.jpg

      • I had the same issue with my build. I could not set the p value any lower. But you can do it. Go to the full parameter list and manually enter the value for p and then click on write parameters. This was the only way I could do it. It will work. I got rid of the wobble by doing this.
  • On the PID tuning page in Mission Planner. Unlock the roll and pitch, separating them -leave the pitch alone, and then reduce the rate P for roll until the rocking gets under control a little at a time each test.

    Cheers

    • Many thanks Mike!

      • Based on getting my mates and mine new 200mm quad design flying  today the P and D at least will be a lot lower that default. We actually gave up on the reducing gain approach and increased form zero...starting with D, holding in hand increase until it felt like it was damping the quad as it was moved by hand, then upping P till it felt like it it reacted to the stick ok, then upping I. Then test hopping and tuning. This should get yyou to a docile setting that will fly rather than it hovering but then starting to oscilated and flip after using the pitch/Roll stick.

  • I just built a 260 quad and watched this video to help me tune mine. I am using a mini apm and mine did not look good when i used the defaults. After a manual tune it flies a lot better.

    http://youtu.be/LtocGBngSrA
    • Many thanks Dave, that is an awesome and easy to understand video!

This reply was deleted.

Activity

DIY Robocars via Twitter
RT @TinkerGen_: "The Tinkergen MARK ($199) is my new favorite starter robocar. It’s got everything — computer vision, deep learning, sensor…
Monday
DIY Robocars via Twitter
Monday
DIY Robocars via Twitter
RT @roboton_io: Join our FREE Sumo Competition 🤖🏆 👉 https://roboton.io/ranking/vsc2020 #sumo #robot #edtech #competition #games4ed https://t.co/WOx…
Nov 16
DIY Drones via Twitter
First impressions of Tinkergen MARK robocar https://ift.tt/36IeZHc
Nov 16
DIY Robocars via Twitter
Our review of the @TinkerGen_ MARK robocar, which is the best on the market right now https://diyrobocars.com/2020/11/15/first-impressions-of-tinkergen-mark-robocar/ https://t.co/ENIlU5SfZ2
Nov 15
DIY Robocars via Twitter
RT @Ingmar_Stapel: I have now explained the OpenBot project in great detail on my blog with 12 articles step by step. I hope you enjoy read…
Nov 15
DIY Robocars via Twitter
RT @DAVGtech: This is a must attend. Click the link, follow link to read the story, sign up. #chaos2020 #digitalconnection #digitalworld ht…
Nov 15
DIY Robocars via Twitter
RT @a1k0n: Got a new chassis for outdoor races (hobbyking Quantum Vandal) but I totally didn't expect that it might cause problems for my g…
Nov 11
DIY Drones via Twitter
First impressions of the Intel OpenBot https://ift.tt/36qkVV4
Nov 10
DIY Robocars via Twitter
Nov 9
DIY Robocars via Twitter
Excellent use of cardboard instead of 3D printing! https://twitter.com/Ingmar_Stapel/status/1324960595318333441
Nov 7
DIY Robocars via Twitter
RT @chr1sa: We've got a record 50 teams competing in this month's @DIYRobocars @donkey_car virtual AI car race. Starting today at 10:00am…
Nov 7
DIY Robocars via Twitter
Nov 6
DIY Robocars via Twitter
RT @a1k0n: Car's view, using a fisheye camera. The ceiling light tracking algorithm gave me some ideas to improve ConeSLAM, and having grou…
Nov 5
DIY Robocars via Twitter
RT @a1k0n: To get ground truth I measured the rug, found the pixel coordinates of its corners, calibrated my phone camera with my standard…
Nov 5
DIY Robocars via Twitter
RT @a1k0n: @DIYRobocars is back in December, but outside. Time to reinvestigate ConeSLAM! I rigged up a quick and dirty ground-truth captur…
Nov 5
More…