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NilsL3 / AutoNav

Autonomous Flight with Parrot AR Drone 2.0 using ORB-SLAM
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PD Controller Tunning #1

Open aseyfi opened 8 years ago

aseyfi commented 8 years ago

What are the steps for tuning the controller? I have a few minutes to tune the controller before the drone's battery dies, so that would be really helpful if you give some instructions on it.

Thank You

NilsL3 commented 8 years ago

Sorry for replying a little late. I recall tuning only the proportional term first in 0.1 increments starting from zero. Once I had a decent response, this is a relatively slow forwards speed (to prevent tracking loss), I started to tune the derivative term in 0.01 increments starting from zero in order to dampen the proportional term. I hope this helps.