Now I'm working with Riccardo to implement a GS protocol for setting pid in realtime .. so' will be more sample to setup it. How do you think are better parameter for my configuration ?
My Hexa have six motors , propeller 10 the weight is around 2.2 kg in order to fly
Regards
Roberto
Hi Adam ,
more fans is more payload and more safe... in my test I check until 12 Fans . Normally this kind of UAV used for Aerial image ... in that application is important to use HD professional camera . The wheight will be around 2-3 kg . If a propeller broke is possible to continue to fly , instead in quad configuration if 1 propeller broke your quad crash :(
Regards
Roberto
Comments
My Hexa have six motors , propeller 10 the weight is around 2.2 kg in order to fly
Regards
Roberto
Im my opinion, there are some oscilations, so less P, a bit less I and more D... this is a trial-and-error process...
more fans is more payload and more safe... in my test I check until 12 Fans . Normally this kind of UAV used for Aerial image ... in that application is important to use HD professional camera . The wheight will be around 2-3 kg . If a propeller broke is possible to continue to fly , instead in quad configuration if 1 propeller broke your quad crash :(
Regards
Roberto
// QuadCopter Attitude control PID GAINS
#define KP_QUAD_ROLL 10 //1.7 // 1.5 //1.75
#define KD_QUAD_ROLL 0.45 //0.35 // 0.4 //Absolute max:0.85
#define KI_QUAD_ROLL 0.4 // 0.4 //0.45
#define KP_QUAD_PITCH 10 //1.7
#define KD_QUAD_PITCH 0.45
#define KI_QUAD_PITCH 0.4
#define KP_QUAD_YAW 3.5 // 3.8
#define KD_QUAD_YAW 1.2 // 1.3
#define KI_QUAD_YAW 0.15 // 0.15
#define KD_QUAD_COMMAND_PART 50.0 // for special KD implementation (in two parts). Higher values makes the quadcopter more responsive to user inputs
// Position control PID GAINS
#define KP_GPS_ROLL 0.035
#define KD_GPS_ROLL 0.0
#define KI_GPS_ROLL 0.01
#define KP_GPS_PITCH 0.035
#define KD_GPS_PITCH 0.0
#define KI_GPS_PITCH 0.01
#define GPS_MAX_ANGLE 20 // Maximun command roll and pitch angle from position control
// MAX_COMMAND
#define MAX_ROLL 100
#define MAX_PITCH 100
#define MAX_YAW 100
// Altitude control PID GAINS
#define KP_ALTITUDE 0.75
#define KD_ALTITUDE 0.4
#define KI_ALTITUDE 0.2
Regards
Roberto