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pid_notfastenuf [2017/04/29 01:06]
sirdomsen 		pid_notfastenuf [2017/04/29 01:19] (current)
sirdomsen
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 ===== PID Tuning Guide (written by NotFastEnuf) ===== ===== PID Tuning Guide (written by NotFastEnuf) =====
  
-note: this guide may be a bit Whoop/Racer/FPV related, which should not discount this very good guide! I (SirDomsen) tune very similar.+<font inherit/inherit;;inherit;;#00FF00>note: this guide may be a bit Whoop/Racer/FPV related, which should not discount this very good guide! I (</font><font inherit/inherit;;inherit;;#00FF00>SirDomsen</font><font inherit/inherit;;inherit;;#00FF00>) tune very similar.</font>
  
 After spending countless hours analyzing logs for research sake - I came to some very simple tuning conclusions that always seem to hold true. Here is my abridged and adapted guide for tuning micros. I know you didn't ask for it but it might inspire others to share something that I can learn or help someone in need.\\ After spending countless hours analyzing logs for research sake - I came to some very simple tuning conclusions that always seem to hold true. Here is my abridged and adapted guide for tuning micros. I know you didn't ask for it but it might inspire others to share something that I can learn or help someone in need.\\
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 1. If you cant turn the bumpy ride from external influences like wind or propwash into clean crisp high frequency oscillations - then you have too much latency and P is out of sync with the motion that the gyro is measuring. Reduce filtering. You will be able to raise P higher (this happened to me with the E011)\\ 1. If you cant turn the bumpy ride from external influences like wind or propwash into clean crisp high frequency oscillations - then you have too much latency and P is out of sync with the motion that the gyro is measuring. Reduce filtering. You will be able to raise P higher (this happened to me with the E011)\\
 2. If you reduce filtering too far - you will not be able to raise D gain high enough and it will be dominated by noise. This looks like a very bumpy ride for no reason\\ 2. If you reduce filtering too far - you will not be able to raise D gain high enough and it will be dominated by noise. This looks like a very bumpy ride for no reason\\
-3. Find the sweet spot in filtering where you have as much P as you need to always keep the craft tight no matter what conditions you fly in and just enough clean D to keep high frequency oscillation damped. \\+3. Find the sweet spot in filtering where you have as much P as you need to always keep the craft tight no matter what conditions you fly in and just enough clean D to keep high frequency oscillation damped.\\
 \\ \\
 Final Step:\\ Final Step:\\
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 End result - micros don't feel like micros anymore!!! I know you didn't ask for all that, but if you understand my process, maybe it will help you understand why I think an FPV camera is a better tool than a blackbox log for tuning a micro. On a larger craft - the forces that it can generate are bigger than external forces like wind so the process is different and blackbox plays a slightly different roll in the process. In short, I would not use it to tune a micro, but I might use it to help analyze a problem that I can't intuitively solve if I encounter one.\\ End result - micros don't feel like micros anymore!!! I know you didn't ask for all that, but if you understand my process, maybe it will help you understand why I think an FPV camera is a better tool than a blackbox log for tuning a micro. On a larger craft - the forces that it can generate are bigger than external forces like wind so the process is different and blackbox plays a slightly different roll in the process. In short, I would not use it to tune a micro, but I might use it to help analyze a problem that I can't intuitively solve if I encounter one.\\
 \\ \\
-If you are flying a micro that has a bumpy ride outside - consider this procedure ... it really works. I apply the same methodology to betaflight and on a typical 8.5mm craft - and this will produce P gains over 100 and D gains even higher for pitch and roll - but a locked in craft that flies like a 250 size. Those kind of coefficients may sound crazy but it really works. P gain as a starting point typically has to be increased more the lower a craft's thrust to weight ratio is. Ideally your craft should be dominated by P's influence while P is slowly corrected by I for accumulated errors, and calmed by D so it looks smooth.+If you are flying a micro that has a bumpy ride outside - consider this procedure … it really works. I apply the same methodology to betaflight and on a typical 8.5mm craft - and this will produce P gains over 100 and D gains even higher for pitch and roll - but a locked in craft that flies like a 250 size. Those kind of coefficients may sound crazy but it really works. P gain as a starting point typically has to be increased more the lower a craft's thrust to weight ratio is. Ideally your craft should be dominated by P's influence while P is slowly corrected by I for accumulated errors, and calmed by D so it looks smooth.
  
  
pid_notfastenuf.1493420794.txt.gz · Last modified: 2017/04/29 01:06 by sirdomsen

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