Bad Positioning Effect in Some Area
Posted: Tue Aug 07, 2018 5:02 am
Hi crazyfliers,
I establish lps system using 6 anchors in TWR mode. I let the drone fly through four points by autononousSequency.py. The sequence I tested is (1.0,1.0,1.0) -> (2.5, 1.0, 1.0) -> (2.5, 2.5, 1.0) -> (1.0, 2.5, 1.0) in unit meters. The locating performance of the drone is excellent at point (1.0, 1.0, 1.0), but bad at other points. Then I find that the drone can stay perfectly at (1.0, 1.0, 1.0) for a long time. But for other points. the drone can't even stay there! It oscillates greatly in the range of about plus/minus half a meter around that set point.
I changed the motors to 720 motors and the battery to 380mah before. I also increased P and D value for this.pidVX, this.pidVY, this.pidVZ and this.pidX, this.pidY, this.pidZ in position_controller_pid.c. The new parameters improve the performance but the drone still oscillates in most areas. The PID parameters may be needed to adjust more. But since the drone can stay at some points perfectly, I think the current pid parameter should ensure the drone to be stable at any point. Some other problems must exist.
The computer with crazyradio is placed near the origin on a desk.
The positions of anchors are listed below in unit meters and they all work normally during the flight.
anchor 0 : 0.04 0.09 0.26
anchor 1 : 0.13 3.80 0.26
anchor 2 : 5.63 1.91 0.26
anchor 3 : 5.67 0.00 2.96
anchor 4 : 0.10 2.03 2.96
anchor 5 : 5.62 3.73 2.96
I will be grateful if you could help me find out the reason of this problem.
Thanks.
I establish lps system using 6 anchors in TWR mode. I let the drone fly through four points by autononousSequency.py. The sequence I tested is (1.0,1.0,1.0) -> (2.5, 1.0, 1.0) -> (2.5, 2.5, 1.0) -> (1.0, 2.5, 1.0) in unit meters. The locating performance of the drone is excellent at point (1.0, 1.0, 1.0), but bad at other points. Then I find that the drone can stay perfectly at (1.0, 1.0, 1.0) for a long time. But for other points. the drone can't even stay there! It oscillates greatly in the range of about plus/minus half a meter around that set point.
I changed the motors to 720 motors and the battery to 380mah before. I also increased P and D value for this.pidVX, this.pidVY, this.pidVZ and this.pidX, this.pidY, this.pidZ in position_controller_pid.c. The new parameters improve the performance but the drone still oscillates in most areas. The PID parameters may be needed to adjust more. But since the drone can stay at some points perfectly, I think the current pid parameter should ensure the drone to be stable at any point. Some other problems must exist.
The computer with crazyradio is placed near the origin on a desk.
The positions of anchors are listed below in unit meters and they all work normally during the flight.
anchor 0 : 0.04 0.09 0.26
anchor 1 : 0.13 3.80 0.26
anchor 2 : 5.63 1.91 0.26
anchor 3 : 5.67 0.00 2.96
anchor 4 : 0.10 2.03 2.96
anchor 5 : 5.62 3.73 2.96
I will be grateful if you could help me find out the reason of this problem.
Thanks.