CF system identification and PID tuning questions
Posted: Tue Jul 24, 2018 5:12 pm
Hi everyone,
I have bought a CF and a flow deck, and successfully used it to stabilize the quadcopter. Now I plan to tune the onboard PID controller and hope to see how quickly I can make the quadcopter react to a command of, for example, increasing its height from h to h+delta h. Since I am quite a novice in this area, could I ask you guys some questions I have met?
Questions:
(1) Can I use the parameter tab in the main UI to change the PID gains? I notice that there are two groups of PID gains in the parameter tab, pid_attitude and pid_rate. What is the difference between them?
(2) I also hope to theoretically calculate the minimum value of the response time which CF can achieve. Is there anyone who had done something similar before? Where can I find the specific CF hardware data and specifications including motor dynamics, the maximum rotational speed of the rotor, the block diagram or the internal structure of the closed-loop system and so on?
Thanks and best regards,
Jason
I have bought a CF and a flow deck, and successfully used it to stabilize the quadcopter. Now I plan to tune the onboard PID controller and hope to see how quickly I can make the quadcopter react to a command of, for example, increasing its height from h to h+delta h. Since I am quite a novice in this area, could I ask you guys some questions I have met?
Questions:
(1) Can I use the parameter tab in the main UI to change the PID gains? I notice that there are two groups of PID gains in the parameter tab, pid_attitude and pid_rate. What is the difference between them?
(2) I also hope to theoretically calculate the minimum value of the response time which CF can achieve. Is there anyone who had done something similar before? Where can I find the specific CF hardware data and specifications including motor dynamics, the maximum rotational speed of the rotor, the block diagram or the internal structure of the closed-loop system and so on?
Thanks and best regards,
Jason