Hi there. Im currently designing Autonomous Quadrotor as my final project at school. Everything was good so far until trying to find PID parameters.
I have a question and some concerns about suppyling power from Li Po's. As you know brushless motors can supply different thrusts on different voltage levels supplied from Li Po's.
For example while using fully charged 12.6V 3S Lipo on 9000rpm with XX brand brushless, it can supply 900gr thrust. On the other hand, everything same but Lipo charged only 11.0V, it may supply like 820gr thrust. Therefore, because of different voltage conditions PID parameters will never match. It will be ok only if I have a voltage feedback from LiPo's and then change PID parameters for each voltage level. Adding voltage feedback on the control algorithm will solve the problem i guess.
The question is anybody use this approach, or power distribution board have something like that included in it or any other solution on that ? And I was wondering can i connect 2 same Li Po's as parallel to a power ring and supply all ESC's from there.
Any help will be greatly appreciated, thanks. Sorry if similar subject has already been discussed. Have a nice one...
Config is Arduino USB, Ardu IMU V2, Emax BL 2215/20, 30A ESC's, 3S 11.1V 2200mA 20C LiPo's, hand made plexi glass frame.