problem with position control

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.

http://youtu.be/0YoQ1YCSjSo

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 

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Replies

  • MR60

    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

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