LibrePilot Forum

Users => Vehicles - MultiRotors => Topic started by: myflyer on May 23, 2016, 04:42:47 am

Title: PID settings
Post by: myflyer on May 23, 2016, 04:42:47 am

New at PID when I punch out I get  oscillation Should I lower my P or I and if so in the roll or pitch. They seem low (70). Also I am not in rate mode

Title: Re: PID settings
Post by: Sid on May 24, 2016, 05:26:57 am

By looking at your quad you should be able to notice that your dealing with Pitch or Roll oscillations but let me ask you the basics. Are there
any vibrations from Props,Motors,Arms,Frame. If so it has to be stopped or minimized then play with easy tune to polish whatever is
left over.

Title: Re: PID settings
Post by: myflyer on May 24, 2016, 06:12:06 am

Thanks for the help. No it is stable  otherwise  And after the punch out it also does it when descending even if I move out of the prop wash

Title: Re: PID settings
Post by: myflyer on May 24, 2016, 06:14:45 am

I would say it is from roll should lower the I or P.

Title: Re: PID settings
Post by: myflyer on May 24, 2016, 06:31:34 am

This is the stock settings

Title: Re: PID settings
Post by: rotomoto on June 03, 2016, 07:36:22 pm

Here i my favourite PID. Works in every configuration between 300 and 500 mm quads.

https://www.youtube.com/watch?v=sQLjtMSeIaE

Title: Re: PID settings
Post by: NicholasDavid on June 04, 2016, 03:52:41 am

Your roll P is 160. Your pitch P is 390. Lower your pitch P.

Title: PID question
Post by: myflyer on June 11, 2016, 02:18:55 am

When adjusting P in  attitude I when down from 25 all the way down to 10 in small steps. Did not really help with  oscillation. Should i change the PID on the rate box and do the testing in rate.

Title: Re: PID settings
Post by: myflyer on June 11, 2016, 02:51:11 am

Thank you,lower the pitch to 0 ? Or would I be better off copping all the numbers from your video. It's a robocat 270

Title: Re: PID settings
Post by: NicholasDavid on June 11, 2016, 03:21:47 am

So no no not zero. A typo. I would lower your pitch P to say 200 ish and lower yaw P to 250. See if it's better.

Title: Re: PID question
Post by: NicholasDavid on June 11, 2016, 03:26:56 am

You may have to lower P for pitch, roll, and yaw,  also the I gain effects all modes of flight. Waaayy to high of I gain could cause a problem. Too high D will not be good but I don't think the D term works toward auto level modes, like attitude.
What are your other numbers. Can you post a picture?

Title: Re: PID settings
Post by: myflyer on June 11, 2016, 04:15:09 am

Yes let me get it hooked up

Title: Re: PID settings
Post by: myflyer on June 11, 2016, 04:41:23 am

I tried different templates this is the set up on the quad now

Title: Re: PID settings
Post by: TheOtherCliff on June 19, 2016, 08:26:42 pm

If it flies fine in hover but oscillates at higher throttle, the solution is to set up TPS.
TPS changes the PIDs based on amount of throttle.
The default curve (a sloped line) increases the PIDs at reduced power (helps stabilization when falling) and decreases PIDs at high power (removed high power oscillation).

GCS -> Configuration -> Stabilization -> Advanced

Title: Re: PID settings
Post by: myflyer on June 23, 2016, 02:21:21 am

Thanks that fixed the problem