Onko PIDien ym. säätöön hyvää opasta? Toi vehje on 450mm 1.5+ kg.
Mä tallensin itselleni joskus tällaisen:
PID tuning:
Pitch/roll:
P: whack the stick or flick it. Watch how the quad behaves as the stick centers. If P is too high it will wobble a bunch and freak out. Lower it so this doesn’t happen (only 2 or 3 wobbles allowed).
I: angle the quad forward. Increase throttle so it does not lose altitude. Make sure it can maintain its heading. If it tilts back up, raise I some more.
D: make the quad fly forward at 80% throttle and maintain altitude. Quickly let off the throttle to about 40%, pitch it back towards you, and blast the throttle again so that it stops and comes back. While it is stopping, watch to see if it flutters before heading back towards you. Adjust D up and see if it gets worse. If it gets worse, put it a few notches below where it was
Yaw:
P: yaw 50% stick deflection in a direction and immediately center the stick(let go). Watch to see if it stops hard enough. If It tries too hard it could dip on the pitch or roll axis, or change altitude. Lower P so that it doesn’t disturb the altitude or pitch/roll heading in order to stop yaw movement
I: diagonal forward flight(top right or top left stick, then release) maintain altitude, watch the yaw axis. If it starts to drift increase I. if it holds its place on the yaw axis you are good.
D: can smooth out that dip you saw in P. try raising this till it feels weird. I have it set at 5 I think.
Likes