Tuning PID values of Clouds Fly

Hi,

 

I tested my ArduPilot today.   My Clouds Fly is controlled by Elevator and Aileron with no Rudder.

 

Stablize,  FLY by Wire and RTL modes were all in good order.  Then I uploaded a simple route for Auto mode as here:

 

 

However, it could not fly in a straight line and always over corrected its heading:

 

 

 

My settings are as follows:

 

#define XTRACK_GAIN 12

#define XTRACK_ENTRY_ANGLE 3000

 

#define SERVO_ROLL_P .008//0.004 

#define SERVO_ROLL_I .00   

#define SERVO_ROLL_D .00    
#define SERVO_ROLL_INT_MAX 500 

#define ROLL_SLEW_LIMIT 0

  

#define SERVO_PITCH_P .012//0.005  

#define SERVO_PITCH_I .0    

#define SERVO_PITCH_D .0  

#define SERVO_PITCH_INT_MAX 500 

#define PITCH_COMP .20

 

#define SERVO_RUDDER_P .000    
#define SERVO_RUDDER_I .0    

#define SERVO_RUDDER_D 0.0   

#define SERVO_RUDDER_INT_MAX 500 

#define RUDDER_MIX 0.5

 

#define NAV_ROLL_P 0.45//0.35 0.5 1.0 1.2 0.7     

#define NAV_ROLL_I .0//0.005 0.02 0.01     

#define NAV_ROLL_D .02     
#define NAV_ROLL_INT_MAX 500 

 

#define NAV_PITCH_ASP_P .65     

#define NAV_PITCH_ASP_I .01//0     

#define NAV_PITCH_ASP_D 0.0     

#define NAV_PITCH_ASP_INT_MAX 500  

#define NAV_PITCH_ALT_P .65     

#define NAV_PITCH_ALT_I .01//0     

#define NAV_PITCH_ALT_D 0.0    

#define NAV_PITCH_ALT_INT_MAX 500

 

 

#define HEAD_MAX 4000          

#define PITCH_MAX 1500   

#define PITCH_MIN -2000        

#define LOITER_RADIUS 40//40

 

Please advise me which value(s) I should correct for improving its performance?  Million thanks!

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Replies

  • Developer
    Assuming that those circles in the track were an automatic loiter I would suggest that your value for nav_roll is probably pretty good. Try reducing your xtrack_gain (a lot).
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