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Re: [Paparazzi-devel] Any suggestion of improvement for PID tuning

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Any suggestion of improvement for PID tuning
Date: Thu, 11 Sep 2014 11:42:31 +0200

Sorry, I misunderstood you before.
Vibration on the airframe can have lots of different sources...
To check the control part, plot the reference angles and rates from the STAB_ATTITUDE_REF_INT message.
The ref_phi|theta|psi angles are computed by the reference model from the setpoint (which can have steps), so basically the "filtered" angle setpoints that are then compared to the current attitude angles and the error used in the proportional part of the PID controller. Respectively ref_p|q|r is used in for the dgain and ref_pd|qd|rd for the feedforward dd-gain.

On Thu, Sep 11, 2014 at 2:56 AM, Eltonwu <address@hidden> wrote:
if I understand correctly, what you meaning is the reason of increasing Dgain
can't prevent the airframe from vibration violently is the problem of
limitation of MAX_[PQR] and MAX_[PQR]_DOT ? Am I correct ´╝čThank you

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