hi, below attach is my simulink for my position control of the quadcopter.
it suppose to control my eular angle to get my quadcopter to my desire position.
<ATT_quat_WB> is the sensor reading for row,pich and yaw current angle while <POS_R_W> is the sensor reading for the current position .
is there any problem with it because my quadcopter go haywire.
this is a link to a video of how my quadcopter behave.
my pid value for the position control is p=0.5,i=0,d=0.1
while pid value for row, pitch and yaw is p=0.07,i=0.001,d=0.02
It looks like your D setting is proportionally too big versus P. On a real quad, P is in the order of magnitude ten times bigger than D. I should be non zero; I tune it to be equal to P.
I would try with a roll and pitch D value around 0,09 and P around 0,15