My quadcopter overoscillates

Vit Slaby

Vit Slaby

New Member
Hello,

I am building new electronics for a cheap commercial drone chassis with arduino and gyroscope. I heard that you can fly quad with just a P component of the PID on. When I do so, it starts oscillating, which could be fine, but the angle of oscillation increases over time and the drone would flip over. I can use the derivative component to stabilize it, and it kind of works, but it doesn't stop the oscillation, it just increases the frequency and decreases amplitude.

From my control theory lesson, I think it is caused by the delay of motors, which cannot be solved with PID, but EVERYONE say they use PID. Any ideas?
 
Vit Slaby said:
Hello,

I am building new electronics for a cheap commercial drone chassis with arduino and gyroscope. I heard that you can fly quad with just a P component of the PID on. When I do so, it starts oscillating, which could be fine, but the angle of oscillation increases over time and the drone would flip over. I can use the derivative component to stabilize it, and it kind of works, but it doesn't stop the oscillation, it just increases the frequency and decreases amplitude.

From my control theory lesson, I think it is caused by the delay of motors, which cannot be solved with PID, but EVERYONE say they use PID. Any ideas?
Click to expand...
Theoretically you need P and I, but D makes tuning easier. Some flight controllers don't use D so it it certainly not impossible.

The I should fix the problem that is arising over time, see your P is causing you to overshoot level, you need a value to slow it down and take up the problem that arises with time.
 
Hi all ,, I no expert but now understand PID a little better when tuning

Proportional == present
Integral == past
Derivative == future

I may be way off,, but check this out just in case

 
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