Tuning the big quad
Posted: Tue Jul 16, 2019 2:06 am
So i''ve built a big quad that is able to take off but shakes violently as it gets sent a set point. (Right now I'm sending positions to the drone using OSC via La Mouche Folle, and Im not actually sure which controller its using) I assume I need to do some PID tuning but what I do not understand is how the PID Controller and the Mellinger controller interact.
I found this useful guide for how to tune PID's here,
viewtopic.php?t=192
but it's from 2013. Is this still the best way to tune a big quad, or do I also have to somehow tune the Mellinger Controller? If I tune the Mellinger Controller, do I even need to touch the PID controller?
How do I know which controller the CF is using at any given moment? Is there a way to log that?
Thanks!
I found this useful guide for how to tune PID's here,
viewtopic.php?t=192
but it's from 2013. Is this still the best way to tune a big quad, or do I also have to somehow tune the Mellinger Controller? If I tune the Mellinger Controller, do I even need to touch the PID controller?
How do I know which controller the CF is using at any given moment? Is there a way to log that?
Thanks!