Quadrocopter Flight test outdoor with Tuned PID by matlab

[nyehnyi]

BLCD controller with pic..great.

[TheRaver13]

@chesley1388

If it is oscillation your P gain is to low or to high and also your Dgain would be to low.

[TheRaver13]

@chesley1388

Mount the IMU on rubber studs or something and then you can filter de values

[TheRaver13]

@chesley1388

Kr= is the P gain

Ki= is the I gain

Kd = is the D gain

there are many different names for the same gains.

[TheRaver13]

the front and back motor should change with the same amount

Lets say they are spinning at 4000 rpm and your angle is 2 degrees and your setpoint=0. Then with only P you would get 0-2*Kr=-2*10=-20.

Motorfront=4000+ -20=3980

Motorback=4000- -20=4020

Search in books and wikipedia how a PID works

[TheRaver13]

@chesley1388

on rcgroups . com you can find alot of info.

You need a gyro and an accelerometer to determine the angle, the angular velocity can be measured with the gryropscope (like a ITG-3200).

It is a pretty difficult project espescially the control and filter algorithms

[TheRaver13]

@chesley1388

Don't no what you want to control for angle control a PD (or PID) is a must and for velocity a PI (or PID) is a must.

[lexeindhoven]

Ziet dr goed uit man!