Hello,
I'm trying to understand the Multicopter PID Tuning Guide and I have some questions:
"Set all MC_XXX_P to zero (ROLL, PITCH, YAW)" if these parameters do what they advertise, I don't understand how this will work since they will output 0.
"The gains actually have an intuitive meaning, e.g.: if the MC_ROLL_P gain is 6.0, the copter will try to compensate 0.5 radian offset in attitude (~30 degrees) with 6 times the angular speed, i.e. 3 radians/s or ~170 degrees/s." working this example and replacing 6 with 0, it will output 0 degrees/s.
"Keep the multi rotor in your hand and increase the thrust to about 50%, so that the weight is virtually zero. "
In which mode? Manual Stabilized?
I Gain Tuning
If the roll and pitch rates never reach the setpoint but have an offset, add MC_ROLLRATE_I and MC_PITCHRATE_I gains, starting at 5-10% of the MC_ROLLRATE_P gain value.
How can I see the roll and pitch rates? what about setpoint? Are we still in the situation where I keep the drone in my hand, titled, with 50% throttle ?
Feed Forward Tuning
Typical value is 0.8…0.9. (For aerial video optimal value may be much smaller to get smooth response.)
If typical value is 0.8 - 0.8, why the default is 0.5 ?
@hamishwillee @dagar
Thanks,
Nicolae