Re: [Paparazzi-devel] How to Calculate those PID Coefficient?

[Stephen Dwyer]

Hi Sylvain,

In general, you can't really calculate the PID gains in the autopilots, since you don't really know the system and it is a bit difficult to characterize using simple traditional methods (i.e. without getting into serious system identification). So, you have to start with some of the example coefficients in the example airframes, and then tune in-flight empirically by observation. Looking at the logs/live plots helps too. It certainly helps to understand how the control loops work when tuning.

Thanks,

-Stephen Dwyer

On Sat, May 18, 2013 at 2:47 AM, Gautier Hattenberger <address@hidden> wrote:

We have a lot of control loops. Which one are the using ?
Some of them are already describe here: http://paparazzi.enac.fr/wiki/Control_Loops

Gautier

Le 18/05/2013 05:13, buaa_paparazzi a écrit :

Hi all!

I'm trying to read the source code of the control loop, but I can't understand how to get those  PID Coefficient?  I have tried to Calculate them from the mathematical model, but got no results. Could you intelligent guys show me the key? Thx soooooo much.

       sincerely 

Sylvain

        18 May 2013

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