12 | Program a PID controller to stabilize a drone

In this video, you will learn how you can stabilise your quadcopter drone using a PID controller. The controller that will be used will stabilise the drone based on its roll, pitch and yaw rotation rates
The purpose of this video series is to learn the basics behind a quadcopter drone and enable you to build one yourself, by dividing this challenging project in several easy-to-understand parts. You use the capable Teensy 4.0 microcontroller together with the easy-to-use Arduino language.
Full code available on GitHub: github.com/CarbonAeronautics

[@CTIN--NguyenQuyHaoNhien]

I love these videos and the way you explain everything so thoroughly

[@sandeeppatra4]

GREAT WORK SIR its a very good video which inspire me thank u

[@fuhadrock6370]

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

[@uav.project8022]

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.

[@P0K0]

How can I filter d term ? What does it mean ?

[@carbonaeronautics]

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.

[@gajakpop9493]

​@@carbonaeronautics I couldn't find the code with the link provided below can you help me out with it

[@HoangMinhNguyen-0307]

same problem, if derivative the error, when quad nearly reach the setpoint, its will be divergence, but i dont know why.

[@thorverhoeven3426]

i can't find the full code on github please someone help

[@thorverhoeven3426]

i can't find the full code on github please someone help