Nicolas's Discussions (2)

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ArduCopter Questions

Hi,

 

I have several questions.

 

Question on Kp Ki  (PI) regulator:

In this file Arducopter.h is write:

 

Kp_ROLLPITCH          = 0.0014;                      //Pitch&Roll Proportional Gain
Ki_ROLLPITCH           = 0.00000015;               //Pitch&Roll Int

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Started by Nicolas

APM2 questions

Hi,

 

I have several questions.

 

Question on Kp Ki  (PI) regulator:

In this file AP_DCM.cpp is write:

 

#define Kp_ROLLPITCH 0.05967         // .0014 * 418/9.81 Pitch&Roll Drift Correction Proportional Gain
#define Ki_ROLLPITCH 0.00001278        // 0.000000

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Started by Nicolas