Design, Build, Test, Iterate

Posts Tagged ‘PID’

More flight videos

Ever since I achieved stable flight, I have gone outside for flight testing almost every day for the past week. Check out some videos after the break.

Tricopter controlled flight!

Or, the best one-line bug fix ever. For two months, I had been thinking I was running my flight controller at 166 Hz while actually running it at a measly 31 Hz. I don’t want to go into detail about how that happened, but I have fixed the problem, and now it works. I am […]

A better alternative to position PID for multirotor control

Some systems can be controlled with a simple P controller, where a given offset is translated directly to some actuator output. Other systems, like the flight orientation control of micro aerial vehicles (MAVs), may require a damping term on the position to prevent a divergent oscillation of the vehicle’s angular position. However, the D controller […]

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 […]