Apr 9th 2015
Know How... 138
Towers Time Forgot, PID Settings, and Feedback
Hosted by
Bryan Burnett,
Fr. Robert Ballecer, SJ
Microwave towers use to beam data!
Although the show is no longer in production, you can enjoy episodes from the TWiT Archives.
Learn about the Microwave Radio Relay Skyawy, RasOSMC is awesome, PID settings for your quadcopter, eBook reader that's not a Kindle, getting NAT'ed by your ISP, and a map of no drone fly drones.
Let's talk PID
P = "Proportional Gain Coefficient"
* P addresses the algorithm responsible for balancing the input from the pilot with the data from the sensors.
-- It "wants" to level the sensors
-- A higher P setting makes the craft more reactive to angular change
-- A lower P setting will make the craft most "sluggish" and less apt to "snap" back to level
The takeway is that the higher your P setting, the more your FC will fight to keep the craft level.
** If your P is too high, you'll typically see oscilations in the craft as the controller constantly overcorrects its angle to level.
I = "Integral Gain Coefficient"
* I addresses the algorithm responsible for balancing the corrections from P... over time.
- It wants to "spread out" the corrections that the P value is pushing through the FC
- A higher I setting will stretch out the corrections from P over a longer period of time
- A lower I setting will enact the P corrections quickly
The takeway is that the higher the I settings, the more smoothly your craft will move
* If your craft wobbles during descent, your I setting is too low
* If your craft wobbles during punch-out, your I setting is too high.
D = "Derivative Gain Coefficient"
* D is the algorithm that softens the corrections from P
- It wants to "smooth out" the corrections that the P value is pushing through the FC
- At a higher setting, it will reduce the input the P value has on the FC as it gets closer to level
The takeway is that we don't use D ---
If you want acro:
- High P
- Low I
- Increased D
If you want smooth and stable:
- Low P
- High I
- Less D
The process for tuning is simple, but can take some time.
1. Set I & D to "0" (If you're using a KK, you don't have D settings)
2. Set P to 20 and fly the craft.
3. If it flies smoothly, increase P by 10 and fly the craft
4. Repeat step 3 until you start noticing high-frequency oscilations
5. Back off your P settings by 10.
** You now have your ideal P setting
6. Set I to 20 and fly the craft
7. Practice descent
8. If it wobbles, increase I - then repeat descent
9. Repeat step 8