Retune Typhoon H480 PID #16519
Retune Typhoon H480 PID #16519
Conversation
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Awesome, thanks! |
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Sorry accidentally closed before merge 😄 |
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@canberkdurmus I just tried this with gazebo11, and results in high frequency oscillations on the vehicle
log: flightreview
Can you confirm that the vehicle is still oscillating?
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Hi, the first posts were with the Gazebo 9 I am sorry for this. I checked out your log and it looks like there is a serious oscillation, I don't understand why drone is this much unstable on your setup. Is it flying normally with the original PID Gain values? I upgraded it to Gazebo 11 and it still looks like roll is fine and pitch is a little bit twitchy in the simulation. See video: gazebo11-.mp4Rates are not very good but angle stabilities are sufficient for flight: Roll: Pitch: I will try to make a refined rate tuning later. |
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@canberkdurmus Sorry, it seems like I had some cached parameters that were making it stay out of tune.
Thank you for the contribution!
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Thank you so much, it is always a pleasure for me to contribute PX4! |
Describe the bug
Hi, I am having stability issues with Gazebo SITL Typhoon h480. In the hover it gets worse with time, descending and ascending with no major problems.
To Reproduce
Steps to reproduce the behavior:
make px4_sitl gazebo_typhoon_h480Expected behavior
Expected behavior is of course a hover without major oscillations but small tuning errors are always acceptable for simulating the real world conditions.
Screenshots
unstable.mp4
Drone:
Proposed Solution
I have made a rough tuning with PX4 Multicopter PID Tuning Guide below you can see the values and flight video. I am going to open a pull request as soon as possible.
stable.mp4
The tuning is not very good I am aware of it but it can fly fine now.
Pitch:
Roll:
Yaw (Not changed I think):
This should solve the issues #16517 and #14953
Thank you