Hello!
I started about 2 months to built a quad-copter one from scratch.
I reached the point where I'm using the softwareMultiWii 1.9, using MEGA 2560 board, motors and ESC to GAUX 330x quad-copter model, Spektrum remote and receiver.
So far I have managed to put the software on board, to connect everything, remote control, to have connection via USB with MultiWii Conf 1.9.
All perfectly up here.
Problem:
My wish is that when not using the remote control, the quad-copter to stay in balance. I researched and saw and understood what a PID controller is.
Using an accelerometer ADXL345 and a gyroscope ITG3200.
It seems that they communicate well with the board through I2C and I have no problems here.
I tried to make tuning on pitch (onlu, no ROLL or YAW). I played with the P, I and D, and I did not make it to stay in balance. Used front motor connected to pin 2 and pin 3 for rear motor.
Where the PID parameters wrong? V1.9 software is not good? I haven't changed anything in it.
PID Stabilization
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copterrichie
- Posts: 2261
- Joined: Sat Feb 19, 2011 8:30 pm
Re: PID Stabilization
First, great job. I would suggest upgrading to at least the official 2.1 version is not the Pre2.2. Reason is, it is much more stable than previous releases. Once you have that up and running, PID tuning will be much easier.
Re: PID Stabilization
Thx for the advice to upgrade, but i want to stay to this version since the code is not that hard to understand or complicated. MultiWii 1.9+ has too many options I don't need. I just simply want to understand the way quads work and get this done asap. The remaining part is to make this PID work. I need some help here.
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copterrichie
- Posts: 2261
- Joined: Sat Feb 19, 2011 8:30 pm
Re: PID Stabilization
Here is a video with English Subtitles: http://youtu.be/OeQI49Ubd1Q
Re: PID Stabilization
Thank you ! I look at this video now.
I have a question: is a good idea to fix the two arms of the quad and adjust the PITCH then change arms and adjust ROLL? mounted on a stationary frame?
Like here: http://www.youtube.com/watch?v=KFn29ybnudM
That's the result I want but when I fly with it outside.
There is something I forgot to mention: I selected a QuadP configuration. Is the QuadX better ? From that video I seen that Roll and Pitch are the same thing in the QuadX. Am I wrong ?
I have a question: is a good idea to fix the two arms of the quad and adjust the PITCH then change arms and adjust ROLL? mounted on a stationary frame?
Like here: http://www.youtube.com/watch?v=KFn29ybnudM
That's the result I want but when I fly with it outside.
There is something I forgot to mention: I selected a QuadP configuration. Is the QuadX better ? From that video I seen that Roll and Pitch are the same thing in the QuadX. Am I wrong ?