Realtime PID values

Post Reply
mopedcrosser
Posts: 52
Joined: Sat Feb 23, 2013 12:35 pm

Realtime PID values

Post by mopedcrosser »

Hi,

while i was tuning my PID´s i whished to see what the PID is doing at the moment... Especially for the Pos hold and nav PID´s it would be great to see what´s going on at the moment. You could see your I rising by far too high and causing overshooting etc. It would make the PID tuning much easier and understandable if you dont have to guess all the time what the PID is doing at this moment. Is there a possibility to integrate it to ez-gui ?

Best regards

Seb

robertha
Posts: 16
Joined: Sun Mar 17, 2013 10:12 pm

Re: Realtime PID values

Post by robertha »

Hi,

I believe you mean the integrator sum and perhaps the actual error which controler operates - it will be visible if you could add them as the debug value - then visible in the graph - in configurator. The point is I dont know where to find correct parameters in the code, could someone help us and point where are these calculations ?

Robert

User avatar
ezio
Posts: 827
Joined: Sun Apr 01, 2012 11:03 pm
Location: Paris
Contact:

Re: Realtime PID values

Post by ezio »

robertha wrote:Hi,

I believe you mean the integrator sum and perhaps the actual error which controler operates - it will be visible if you could add them as the debug value - then visible in the graph - in configurator. The point is I dont know where to find correct parameters in the code, could someone help us and point where are these calculations ?

Robert


for now it is the only way to do it simply.

mopedcrosser
Posts: 52
Joined: Sat Feb 23, 2013 12:35 pm

Re: Realtime PID values

Post by mopedcrosser »

Hi,

yes thats what I meant. If you see the integrator sum and the p term its much easier to see why the copter behaves like it does. For example will you see that your copter does not reach its target because P is not sufficient an I does not increase fast eough. On the other hand you would see why the copter overshoots if I was chosen too high. At this time its only guessing which can drive you crazy especially if you have an PI controler that interacts with the PID. You simply dont know which one to tune to get rid of a certain behavior..

Seb

Post Reply