MultiWii Parameter Adjustment, Ver.1.8.patch2

I try to setup the parameters in order to allow First Person View with slow and stable movement.

The text Configurable parameters in the Link does not show the actual status (Software version 1.8.patch2), and leaves out the Amplitude parameters. So I like to fill the gap, as good as possible.

Gyro PID Parameters

The default parameters for the Gyro are the following, as found in the software:

Gyro Parameters in use

Originator

Date

ROLL P

ROLL I

ROLL D

PITCH P

PITCH I

PITCH D

YAW P

YAW I

YAW D

Remark

Ver.1.8.p2

2011-08

4.0

0.030

17.0

4.0

0.030

17.0

8.5

0.000

0.0

Default

Ver.dev_20111029

2011-10

8.1

0.030

23.0

8.2

0.030

23.0

8.5

0.000

0.0

little wobble

Ver.dev_20111029

2011-10

7.0

0.030

23.0

7.0

0.030

23.0

8.5

0.000

0.0

OK

Altitude Hold

About Altitude Hold very little is documented (see Link). I will try to improve that. The Amplitude [m] in the table shows the found vertical flying amplitude in height found by the testers.

First I try to find proven parameter settings in the forum, see link:

Altitude Hold Parameters in use

Originator

Date

ALT P

ALT I

ALT D

VEL P

VEL I

VEL D

LEVEL P

LEVEL I

Amplitude [m]

Alexinparis

2011-07-04

9.0

0.000

19.0

9.0

0.000

10.0

?

?

?

Ver.1.8.p2 def.

2011-08

4.7

0.000

0.0

0.0

0.000

0.0

9.0

0.045

?

jevermeister

2011-08-25

11.0

0.000

0.0

0.0

0.000

0.0

?

?

1

crashlander

2011-09-24

0.0

0.000

0.0

0.3

0.000

37.0

?

?

5

Rudolf

2011-11-02

20.0

0.030

10

9.0

0.000

30.0

9.0

0.045

?

* Alexinparis 2011-10-03: Before trying to tune the VEL PID, I would suggest to tune only the ALT P parameter and leave everything else to 0 (ATL I, ATL D, VEL P, VEL I, VEL D = 0)

Info

Centurien Rules

"P" fights all motion... increase until you get a feedback wobble, reduce by ~20%

"I" is heading hold.... increase until you get a bounce back when you release a big stick input.

"D" the bigger(note this is a negative term, bigger in a negative sense) the better from what I can tell this tries to smooth out any rotation. The farther from zero you run "D" it appears you can further increase "P"

NOTE: Poorly balanced props will result in bad data coming from the sensors which will be amplified by your PID coefficients. Comes down to garbage in, garbage out... your sensors are your friends and your props are their enemies!

Berkley MultiWii additional HOWTO overview
In order to fine tune parameters, Alex suggest to increment/decrement the values with the following steps: P:0.2 ; I:0.005 ; D:1

joebarteam, PID tuning with video
If nothing helps getting the platform stable:

Shikra, TriWiiCopter Configuration and Settings
RC Rate

RC expo

Pitch/Roll Rate

Yaw Rate

Throttle Rate PID

PID settings Checklist

config.h for Quadrocopter, Arduino Mega

List of pages in this category:

-- RudolfReuter 2011-10-03 10:21:29


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rudiswiki9: QuadrocopterParameter (last edited 2011-11-02 18:22:03 by dslb-084-058-187-242)