nrf52-quadcopter PID question.

[Yoojin.Jang]

Hello.

I almost finish nrf52-quadcopter develop.

I want fly drone with mobile.

I want to confirm PID value from minum to maxium in mobile.

and I want to confirm your PID value.

Roll - rate

P:    I:   D:

Roll - attitude

P:    I:   D:

Pitch - rate

P:    I:   D:

Pitch - attitude

P:    I:   D:

Yaw - rate

P:    I:   D:

Yaw - attitude

P:    I:   D:

thank you have a nice day

[Bjørn Kvaale]

Hi,

Have you taken a look at the pid.h header file? There you can see the default PID values for the different axis. I will double check with the developer to see if these values were changed at all via the smartphone.

Kind Regards,

Bjørn

[Yoojin.Jang]

thank you for your support.

I was find pid.h header file.

but my drone not well fly about basic pid setting.

so I want to confirm minium ~ maxium value.

I want to test my drone with smartphone.

[Bjørn Kvaale]

Depending on which motors & parts you are using, you will most likely need to tune the values a bit. I have talked to the developers & they said that the code can be quite buggy at times. For example, you cannot expect the same behavior when uart logging is turned off compared to when it is on.

If you make changes to the code that could introduce more delay in the system, this could affect the performance of the quadcopter.

You will most likely need to tune the values yourself to find the best values for your specific HW. The values given in the header file should be able to give you a good starting point. Hope that helps!

[Yoojin.Jang]

thank you for your support.

I test drone about basic PID.

The 2,3 motor runs full when the joystick is only 1 raised from the smartphone.

And if you move the drone, it looks like a six-axis sensor.

The joystick increases by 1 or increases by 255, but works unconditionally at max. Is this also a bug?
Do you have any corrective points?

[Bjørn Kvaale]

Are you using the physical web & bluetooth web api to control the drone? Are you sure that the accelerometer has been initialized correctly? Could it be that the accelerometer is thinking the quadcopter is not balanced? Have you tried debugging the drone to see if there is anything weird going on? Could you please upload the log to devzone?

[Yoojin.Jang]

I was using the physical web & bluetooth web api to control the drone.

rate mode is joystick throttle OK. six-axis sensor is OK.

so The drone well fly.

but attitude mode is joystick throttle not OK. Unconditionally motor is 100% on.

1. Bluetooth connection will receive the PID

2. calibarate click after controller mode is Rate mode.

3. According to the first data- 23 of the send joystick, the motor also operates as 23.
Because of the capture, please understand that the joystick movements and values are different.

4. calibarate click after controller mode is Attitude mode.

The joystick operation is the same as the data in Figure 3

However, the motor operates at 100%
maybe do not read the throttle value

[Bjørn Kvaale]

Hi,

It seems that the gyro & accelerometer might not be calibrated correctly. When you press the "calibrate quadcopter" button, only the offset is adjusted. It does not run a complete calibration. I would calibrate both the gyro & accelerometer correctly & then also tune the regulator if necessary.

I would also take a closer look at the calibration code & how the regulator inputs are scaled.

Kind Regards,

Bjørn