What should the throttle be on a quadcopter?
A value at which the power from the 4 motors roughly keeps the quadcopter airborne, for instance 1500ms. Plus or minus the influence of the throttle. For instance with your throttle is in the 0:1 range you could apply 600 * (throttle – 0.5), which will put the motors output in the 1200:1800ms range.
How does PID affect the behavior of a quadcopter?
The Effect Of Each PID Parameter. Altering PID values affects a quadcopter’s behavior in different ways. P gain determines how hard the flight controller works to correct error and achieve the desired flight path (i.e. where the pilot wants the quad to go by moving the transmitter sticks).
How does the desired speed to throttle work?
Desired Speed to Throttle PID Tuning The Desired-Speed-to-Throttle controller attempts to achieve the desired speed (set by the pilot or autopilot) using a PID controller. All modes except Hold and Manual use this controller. The P, I and D gains for this controller are held in ATC_SPEED_P, ATC_SPEED_I and ATC_SPEED_D parameters respectively.
Why are two propellers on a quadcopter different?
In the real world, no two ESC’s, motors or propellers are identical, thus they will provide different levels of thrust even when spinning in the same air. When you do a punch out and immediately lower your throttle, one motor might increase and decrease RPM faster than the others, this will cause an unwanted dip movement.
Can a quadcopter fly with default PID values?
A quadcopter would always fly badly with default PID values, which made PID tuning absolutely essential. But that’s no longer necessarily the case (at least for mini quads), thanks to the sophisticated noise filtering and optimized algorithms in modern FC software.
What happens when the P of a quadcopter is too high?
Generally speaking, higher P gain means sharper control while low P gain means softer control. If P is too high, the quadcopter becomes too sensitive and tends to over-correct, eventually it will cause overshoots, and you will have high frequency oscillations.
How is tuning a quadcopter PID an art form?
Quadcopter PID tuning really is an art form. Understanding how to balance different aspects of the flight characteristics to make the craft respond perfectly for your particular flying style, doesn’t happen over night.