Why the default PID parameters for Z are high by default in ROS pid.h file?

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thanhvu94
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Why the default PID parameters for Z are high by default in ROS pid.h file?

Post by thanhvu94 » Wed Jun 21, 2017 9:27 am

I'm wondering why the PID parameters by default for Z control are high (about 4000 to 5000)? Is there any technical reasons for that? Which are we trying to control, the thrust, the error between refernece height and real height, or what?

arnaud
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Re: Why the default PID parameters for Z are high by default in ROS pid.h file?

Post by arnaud » Wed Jun 21, 2017 9:31 am

The output of this PID is in PWM ratio between 0 and 65536, this is why these coefficient are so large.

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