Re: [Paparazzi-devel] Any suggestion of improvement for PID tuning

[Eduardo lavratti]

Well, i dont know anything about your frame but i think you are using values too low.

For example, here are the setting i use for my 450class quadcopter

    <define name="PHI_PGAIN"  value="1500"/>
    <define name="PHI_DGAIN"  value="600"/>
    <define name="PHI_IGAIN"  value="550"/>

It fly super stable and have fast response to stick command with original reference values.
BTW, i set the some reference parameter to make the response a bit slow (more smooth fly)

> Date: Wed, 3 Sep 2014 19:57:21 -0700
> From: address@hidden
> To: address@hidden
> Subject: [Paparazzi-devel] Any suggestion of improvement for PID tuning
>
> Currently I try to tune the PID params of attitude more efficient.The
> performance of the PID is not still satisfied.If I operate the stick gently.
> the copter perform steady and no oscillation,but if I operate the stick
> roughly,such as perform a brake suddenly when the copter speed is very high
> speed. the copter oscillate very much about 500 ms and become steady.
>
> the following is the curves when flying . Can anyone give me some
> suggestion to improve the PID?
>
> Thanks in advance
>
> <define name="PHI_PGAIN" value="135"/>
> <define name="PHI_DGAIN" value="88"/>
> <define name="PHI_IGAIN" value="80"/>
> <define name="PHI_DDGAIN" value="120"/>
> <http://lists.paparazziuav.org/file/n16076/1358880.png>
> <http://lists.paparazziuav.org/file/n16076/ff_1358880.png>
>
> <define name="PHI_PGAIN" value="145"/>
> <define name="PHI_DGAIN" value="88"/>
> <define name="PHI_IGAIN" value="5"/>
> <define name="PHI_DDGAIN" value="120"/>
> <http://lists.paparazziuav.org/file/n16076/1458805.png>
> <http://lists.paparazziuav.org/file/n16076/ff1458805.png>
>
>
>
>
> --
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>
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