After the 1st test flight and seeing the plane wobble too much ive edited the code to make the following changes...Original code#define roll_P .8 //roll PID proportionalRudder to sensitive1st test#define roll_P .5 //roll PID proportionalNo wobble at all but wont turn...2nd test#define roll_P .65 //roll PID proportionalStill too sensitive but much better then .8 & seems to turn with alot of authority, would roll violently in the cross wind (was about 10-20knots)Ill have to go down 1st thing in the morning when there is no wind, might also drop it down to .6 and see how it flys.Max
#define roll_P .6 //roll PID proportional
This is what im leaving it on I think as it seems to turn good and not wobble so much. (looking from the ground)
Couple of problems, the RTL mode works good but the plane seems to come back over the top and then keep going, I would have thought it would start to circle over top?
It has been very windy so I need to try this in calm weather *looks out the window* possibly this afternoon, if not tomorrow.
Ive got 2 new videos up on my blog here, both showing the effects of the changes.
1st video is from the ground & 2nd video is onboard the plane.
A bit more brainstorming :-) ... we put a jumper on Ardupilot to deactivate the normal functions of the CTRL switch "RTL and waypoint following". Instead of that a "PID params trimming" function is active. Plane starts in manual mode, CTRL switch in middle position activates the trimming function, rudder stick trims one PID param, elevator stick the other PID param. That means we move one or both of those sticks out of the center and check the reaction of the plane, when the param(s) is/are ok, we flip the CTRL switch to the end position (normally RTL). This stores the new value(s) in the eeprom. CTRL switch down always reactivates manual mode immediately of course. Bad idea :-) ?
No, not two separate channels but the channels they're already there ... in automode they're not necessary unconditionally for controlling the plane ... idea is not yet finished :-).
@Helitron: Not so strange an idea at all, the ability to adjust this in mid-air is a must. Would you be using 2 seperate RC channels to do that?
Regardless, it would bring a new dimension to the ArduPilot because different planes need different PID gains, the ability to adjust in mid-air is cool. Keep us posted!
Btw. just ordered two additional ArduPilot boards from Sparkfun, have four then, they're really smart, useful and inexpensive boards not only for ArduPilot but also for other little R/C applications.
For those using an Xbee for downlink, would it be possible to use the up channel to digitally adjust the PID parameters from the ground and write them to EEPROM? Or would it be difficult to share serial with GPS on ArduPilot? Sorry I've nothing to offer as solution but only some thoughts and questions.
Exactly, that was the idea behind ! Btw. regarding the little LCDs I've mentioned above, I contacted MX today and he has some left of them (I just ordered 5 pcs). His webshop is down at the moment but one can contact him with the address support@hexpertsystems.com. Price is $12 for one of those thingies.
In the meantime I've got another idea for adjusting the PID values IN THE AIR during flight without a radio modem but more about this strange idea later then :-).
@Helitron: The little pots idea is very good. we could have a little side daughter board with connectors to interface with the mainboard and servos and adjust things quickly without havin to reflash the Ardupilot between tests.
I like that! We could set the gains to max on the code and reduce with the pots until we reach desired levels.
Comments
#define roll_P .6 //roll PID proportional
This is what im leaving it on I think as it seems to turn good and not wobble so much. (looking from the ground)
Couple of problems, the RTL mode works good but the plane seems to come back over the top and then keep going, I would have thought it would start to circle over top?
It has been very windy so I need to try this in calm weather *looks out the window* possibly this afternoon, if not tomorrow.
Ive got 2 new videos up on my blog here, both showing the effects of the changes.
1st video is from the ground & 2nd video is onboard the plane.
Erwin
Greets, Erwin
Regardless, it would bring a new dimension to the ArduPilot because different planes need different PID gains, the ability to adjust in mid-air is cool. Keep us posted!
Erwin
In the meantime I've got another idea for adjusting the PID values IN THE AIR during flight without a radio modem but more about this strange idea later then :-).
Erwin
I like that! We could set the gains to max on the code and reduce with the pots until we reach desired levels.
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