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[Paparazzi-devel] Any idea of tuning ZHOLD

From: Eltonwu
Subject: [Paparazzi-devel] Any idea of tuning ZHOLD
Date: Thu, 25 Sep 2014 18:40:16 -0700 (MST)

    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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