Any idea of tuning ZHOLD

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Any idea of tuning ZHOLD

Eltonwu
    The Attitude work well now,and now I try to tune the ZHOLD.
When I use the default PID parameter(150,80,20) of vert loop,the rotorcraft goes up and down about 3 meters or more, because I try it in a room about 3 meters high,the rotorcraft fly up to the ceiling and suck the celing. I have to give less throttle to let it down.then give a high throttle to let ZHOLD control the throttle.then it fly up to ceiling again.
    then I try to a small PID(40,20,10).the rotorcraft work a bit OK, it oscillation at about 2 meters. I feel the controller have some delay.for example when it fly too high. and the controller start to give less thrust,when it fly too slow,the controller start to give more thrust.

    the baro I used is MS5611.the altitude and velocity estimation is not as accurate as I think, the altitude has about 30cm error,and the velocity have 0.06m/s when the craft don't move. So is the baro not tuned well?

Any help will be appreciated.

Thanks in advance
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Re: Any idea of tuning ZHOLD

Roman Krashanitsa-2

If I had doubts about accuracy of my sensors, I would tune them separately, and then, when I know that sensors are reasonably accurate, I would start tuning the pid loop. Kind of impossible to tune sensors and pid at the same time.

Roman

On Sep 25, 2014 8:43 PM, "Eltonwu" <[hidden email]> wrote:
    The Attitude work well now,and now I try to tune the ZHOLD.
When I use the default PID parameter(150,80,20) of vert loop,the rotorcraft
goes up and down about 3 meters or more, because I try it in a room about 3
meters high,the rotorcraft fly up to the ceiling and suck the celing. I have
to give less throttle to let it down.then give a high throttle to let ZHOLD
control the throttle.then it fly up to ceiling again.
    then I try to a small PID(40,20,10).the rotorcraft work a bit OK, it
oscillation at about 2 meters. I feel the controller have some delay.for
example when it fly too high. and the controller start to give less
thrust,when it fly too slow,the controller start to give more thrust.

    the baro I used is MS5611.the altitude and velocity estimation is not as
accurate as I think, the altitude has about 30cm error,and the velocity have
0.06m/s when the craft don't move. So is the baro not tuned well?

Any help will be appreciated.

Thanks in advance




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