Blogs

EastBay RC Guide to PID Controllers, Part 2: The Math and the Code

Posted by Mark Harrison on February 26, 2014 at 4:51pm

Part 2 of the EastBay RC Guide to PID Controllers.

Building on the intuitive model presented in part 1, we take a look at the mathematical model and write a PID control loop based on that model. Hang in there if you're unfamiliar with the math... it turns out to be pretty straight-forward code in the end!

Like part 1, this is a first take. Your comments are welcome!

The printed formula is from wikipedia. I tried doing this Khan Academy style with a tablet... wow that's hard to write with, so I did it on paper instead.

E-mail me when people leave their comments –

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

Join diydrones

Comments

John Githens March 2, 2014 at 2:22pm

Nicely done! Thanks!
Harald Molle February 27, 2014 at 4:28pm

Great stuff!

Fantastic vizualization, without any boring power point stuff.

I like it.

Thanks a lot
Andy Shen February 26, 2014 at 6:41pm

Fantastic, thanks for this!
Gary McCray February 26, 2014 at 6:38pm

Hi Mark, Another great and useful video have added it here to the APMCopter tuning section:

http://copter.ardupilot.com/wiki/tuning/#PIDs_Part_2_The_Math_and_t...

Thanks again, this is useful to all of us and really puts PIDs in practical terms.

This reply was deleted.

#xg { position:relative;top:120px; } #xn_bar { top:120px; }

Hello, you need to enable JavaScript to use diydrones.

Please check your browser settings or contact your system administrator.