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- เผยแพร่เมื่อ 8 ม.ค. 2017
- I created this video to help with PID understanding, In this video I discuss Proportional, Integral and Derivative components to the PID.
Later in the video I demonstrate how the PID works in terms of the CPU cycles on the flight controller.
Quadcopter PID explained.
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Your tutorial is the only one I've seen so far that removes the mystery involving PID. It gave me the needed foundation so I could go into betaflight to make changes to the PID values with confidence. Thank you very much.
Awesome video Andrew. I appreciate you taking the time to make this!
As a newbie to Quads, this was both mind-bending and extremely interesting. Many Thanks.
very well explained, much easier to understand, thank you!!!
im glad you broke this down...i dont want a brainiack course just an explination..... excellent!!!
Well explained
After this am able to get a clear view about pid
Thankyou so much for the beautiful explanation.
Thank you
This helps me a lot by building my autonomous gnss drone!
Fantastic tutorial. Cheers!
Really well explained...thank u sir.❤
Thanks for the description.
that was really helpful GJ!!!!
Great video!
Very well explained.
very good explanation....thank you sir
thx for the good explanation
Thanks for this video
Well, done.
Nice
Thank you!
Really good explanation of pids. Thank you very much! Wonder if you might have any tips...Running Silverware on Bwhoop pro...I'm in the Keil bug software. Learning how to adjust quads at programming level. I am getting this really crazy back and forth wobble in angle mode...It is not as bad in acro. I know that in acro it's turning off the gyro/accelerometer. I am using the b-whoop boards in my own custom builds. I have tried so many different test's adjusments...It's better. But I still have a slight wobble in acro...and its terrible in angle mode. In the stock firmware there was no wobble in angle..Bound and determined to figure this out.
Wow, nice video. The way you're explaining it sounds like PID tuning is more about adjustments to correct the quad to become more predictable - to match stick input with what the quad does. As opposed to rates adjustment which is more about personal preference (of sensitivity of the sticks at each part of the range). Am I understanding that correctly?
As far as the cycles are concerned, it sounds like PID needs to be adjusted in that exact order. e.g. loud scream, quieter scream and adjustment once loud scream is no longer heard. Correct?
Different explanation in BF. At least your explanation give me some ideas what PID its all about. Thanks Andrew.
cool! thanks for explaining! btw, why would D cause a hot motor?
thx i will implement it to arduino
I watched full video very well explained as I have watched others PID videos. I like your analogy's and easy to understand.
Thanks FPV MagicMic!
Nice video sr ... Can u please make a video .. explaining all the. Parts of flight control board ... Along with function ... Plz
Andrew, thanks for video. One question, when tuning P, do we need to have I and D already set? or starting with like P = 50, I = 0 and D = 0 is ok?
Lev Ani Some drones might wobble in flight. This can be very visible while flying the drone with FPV goggles. However, sudden forces on the drone like a gust of wind can cause erratic behaviour and a possible crash.
One of my nano drones will simply flip over the moment I give it enough throttle to get into the air.
Still what values do what though ? 0 is turning off higher is making it work more ?
Sir if we are equal P and I values, what will effect on drones?
hey can I get the formula for the calculation of pid??
I have one question. Is it possible to use any processor like smartphone's snapdragon, mediatek, exynos etc or PC processors like Intel or AMD processors for a Flight Controller?
Sure. Why would you though ?
Sir, Why does proportional stops at a certain threshold? What decides that threshold? And what is making the integral know that proportional has stopped and now it has to come into process.
Math formulas.
how does a pid do two motionl analysis like a roll to a particular angle and a rise to a particular altitude
How about all three at the same time? Pitch, Roll and Thrust.
I have heard the same explanations from 3 diff plp and they still dont teach you how PIDs truly affect the flight. They are teaching theory on a whiteboard. Just grab a quad and a laptop, take it to the field and demo how diff setting in Betaflight, cleanflight, etc affect the flight, flips, dives. That what I want to hear.
depends on your learning style
Hi Eli. Agreed as well, however, unless you have the sticks in your hand it is hard to demonstrate this. Hearing the PID explanations helped me to understand why I am getting certain wobbles during flight and how to adapt the PIDs to get a more stable flight.
Check Mr. Steele (Former RoterRiot member) he has a video where he had 2 quads with the same flight controllers and the quads performed radically different. The theory helps frame the context.
Large differences in control, work on the PID, for smaller vibrations during flight, work with the I and D. It's all trial and error at that point.
Cheers!
Look here its what u want... th-cam.com/video/27lMKi2inpk/w-d-xo.html
The problem is that most quads are running PID controllers on their attitude rates, not attitude itself. Correcting attitude error is much more intuitive like in this video, when in actuality, the quad controller PID is correcting attitude rate error (deg/second of roll, pitch, and yaw)
@@dlwalter Thanks for this clarification, I was thinking something was off with the explanation… the sticks do not command quad angle, they command quad rotation speed! I guess one way to see it is that the video is still valid as explanation considering that the aiming position is in constant movement (at the rate set by the stick).
A basic question here, the error is [Radio Input - Sensor] or [Zero level - Sensor]?
legolas8886 I believe Radio Input minus Sensor is the error, as that is the error between what you wanted your result to be versus what your current actual result is.
ho thank to you for good information , can have the information in pdf iam student indeed to make report to my teacher to help me in examination degree ,plc
P and D are doing all the work. I seems useless.
You mention cycles on miliseconds time frame, that seems inaccurate. If the CPU cycle rate is for example 1 GHz then a cycle lasts 1 nanosecond.
The attitude controller software for quads is running on a loop in the microsecond to milliseconds scale which is much slower than a CPUs clock cycle.
Just use pids 66 66 69
Derivative?
Dan Jacob that extra push at the end into position
abbeyglencircle
Just the spelling he got wrong
you explanation is awesome. but can you please upload the arduino code for that.