Design, Build, Test, Iterate

Posts Tagged ‘control’

Finally, flight!

My tricopter flies! Of course, I mean that very loosely, that it was airborne. Tuning the controller so the craft is actually controllable, however, is a task yet unfinished. In hindsight, my gains were much too low for free flight. Ground effect was therefore much more pronounced, and it took me a few tries before […]

Tricopter: working PD control

The I gain is zero for now, but basic attitude control works. In the video, I first change the attitude by slowly moving the joystick back and forth. At around 0:43, I move the joystick faster and let go to see how quickly the tricopter can stabilize. The P and D gains are a bit […]

Tricopter: gyro damping and PID control (fail)

I’ve been working on stabilization code for the tricopter using direction cosine matrices but haven’t yet gotten too far because the DCM updates too slowly. I must be doing something wrong. For now, I’ve got basic damping (basically D control) using low-pass-filtered gyro outputs and some PID control that needs adjustment. Actually that’s a misnomer […]