What's a good strategy to tune these params?

I'm having trouble getting it to hold target airspeed (it seems to stay below it), and I can also hear it changing the throttle quite a bit, even though it's above target_altitude according to the mission planner (target_altitude in status tab said 272, altitude readout on attitude indicator said 278)

Airspeed got better when I gave it more airspeed->pitch, but I couldn't get energy->throttle to smooth out.

I see that it's based on both airspeed error and altitude error, so I assume it will get better with additional tuning to the airspeed->pitch PID. I'm just worried that it's caused by noise from the sensor.

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

Join diydrones

Email me when people reply –

Replies

  • I know nothing about PID tuning for APM... don't have one yet.  But I've got plenty of experience tuning PID for the MultiWiiCopter!  In a situation like this where things are pretty different from how a multirotor manages its attitude, I suppose things aren't very equal.

    Despite that, I'd move I farther away from 0.  In the MWC, I influences how aware the controller is of smallish changes in sensor data, like when the copter is flying in ground effect, descending through its thrust column, or hovering in heavy wind.  I gives the controller more context to work with when making a correction decision.  

    Just guessing out loud!

This reply was deleted.

Activity

DIY Robocars via Twitter
Jan 28
DIY Robocars via Twitter
RT @Heavy02011: ⁦@diyrobocars⁩ : A Home-brew computer club* for Connected Autonomous Driving. talk at #piandmore ⁦@PiAndMore⁩ on Jan 23rd h…
Jan 23
DIY Robocars via Twitter
RT @a1k0n: New blog post! Deep dive into my ceiling light based localization algorithm which runs in 1ms on a Raspberry Pi 3: https://t.co/…
Jan 23
DIY Robocars via Twitter
Great new guide to using @donkey_car https://custom-build-robots.com/donkey-car-e-book-en
Jan 23
DIY Robocars via Twitter
RT @chr1sa: The next @DIYRobocars virtual AI race is tomorrow morn at 9:00am PT. You can watch live on Twitch https://www.meetup.com/DIYRobocars/events/275268196/
Jan 22
DIY Robocars via Twitter
New version of Intel OpenBot! This resolves many of the issues with the first version, including a much smoother tr… https://twitter.com/i/web/status/1352395636369313798
Jan 21
DIY Drones via Twitter
Using ArduRover with an RTK GPS https://ift.tt/2N9I3RO
Jan 18
DIY Drones via Twitter
Jan 18
DIY Robocars via Twitter
Jan 18
DIY Robocars via Twitter
Jan 15
DIY Robocars via Twitter
Jan 15
DIY Drones via Twitter
Jan 14
DIY Robocars via Twitter
RT @Heavy02011: @diyrobocars : A Home-brew computer club* for Connected Autonomous Driving on Jan 23rd, 2021 https://www.meetup.com/Connected-Autonomous-Driving/events/275728684/ #Meetu…
Jan 14
DIY Robocars via Twitter
Jan 14
DIY Robocars via Twitter
RT @Heavy02011: ⁦@diyrobocars⁩ Autonomous Driving Assembly at #rC3. join us at https://rc3.world/rc3/assembly/diyrobocars-f1tenth/ ⁦@f1tenth⁩ ⁦@DAVGtech⁩ ⁦@DWalmroth⁩…
Jan 11
DIY Robocars via Twitter
RT @chr1sa: New car designs coming for our next @DIYRobocars @donkey_car virtual race on the 23rd. Choose any one you want at race time Le…
Jan 11
More…