I am using derivative from measurement on my project. Because derivative from error generates "D kick" when setpoint changes rapidly. U should try. And u didnt mention that d term has to filtered properly with something like notch filter in order to not burn your motors and fly nice. 250 Hz PID loop really slow for any size of drone. Increase it to 500 Hz and use oneshot125 ESC. Great work.
Indeed, in part IV I explain that you need to use a low pass filter for the gyro measurement. The filter is set to 10 Hz in register 1A of the MPU6050. I did not try to filter the D term separately because the I did not yet experience motor or ESC issues, probably because the measurement itself is already filtered and the D term is not excessively big.
I love these videos and the way you explain everything so thoroughly
I am using derivative from measurement on my project. Because derivative from error generates "D kick" when setpoint changes rapidly. U should try. And u didnt mention that d term has to filtered properly with something like notch filter in order to not burn your motors and fly nice.
250 Hz PID loop really slow for any size of drone. Increase it to 500 Hz and use oneshot125 ESC.
Great work.
How can I filter d term ? What does it mean ?
Indeed, in part IV I explain that you need to use a low pass filter for the gyro measurement. The filter is set to 10 Hz in register 1A of the MPU6050. I did not try to filter the D term separately because the I did not yet experience motor or ESC issues, probably because the measurement itself is already filtered and the D term is not excessively big.
@@carbonaeronautics I couldn't find the code with the link provided below can you help me out with it
same problem, if derivative the error, when quad nearly reach the setpoint, its will be divergence, but i dont know why.
GREAT WORK SIR its a very good video which inspire me thank u
Can you please tell me... That my drone just spinning when i increase the throttle....
So whats that means..
And what should do in pid controll
i can't find the full code on github please someone help
Skip to the next episode, the linked repo has the code there
i can't find the full code on github please someone help