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Autopilot PID controller tuning resources: Difference between revisions
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Autopilot PID controller tuning resources (view source)
Revision as of 11:35, 18 August 2019
, 18 August 2019→Example of tuning
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Usually it is wise to expose the P,I,D as properties to allow easy tuning. | Usually it is wise to expose the P,I,D as properties to allow easy tuning. | ||
The first thing to do is to get a reasonable P value. This should drive towards the target at an appropriate rate. Try to tune this so that there is little overshoot. Next adjust the I value (starting small) to drive towards | The first thing to do is to get a reasonable P value. This should drive towards the target at an appropriate rate. Try to tune this so that there is little overshoot. Next adjust the I value (starting small) to drive towards the target. Use the D value to put the brakes on the I value; so again start small with D and increase in appropriate increments. | ||
=== Getting graphs of controller action (Linux) === | === Getting graphs of controller action (Linux) === | ||