Comments (3)
imcnanie
commented on August 10, 2024
Actually, increased the mass of the copter to account for the loss of weight and got a different oscillation (makes sense). Should I retune? Or are there other properties to watch for? EDIT: messed around with parameters, started following this guide: http://px4.io/docs/multicopter-pid-tuning-guide/. All my gains are 0 except MC_PITCHRATE_P and MC_ROLLRATE_P which are 0.02 and it flies perfectly, which I doubt is realistic. I want to attempt to tune the simulated version and put those tunes on my real copter.
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nicolaerosia
commented on August 10, 2024
Just wondering if you figured this one out
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imcnanie
commented on August 10, 2024
Yes, it looks like the SDF (in Tools/sitl_gazebo/models/typhoon_h480/typhoon_h480.sdf) defined the camera and legs as fairly heavy objects, so when I removed them, the extra weight changed the tune. You can fix this by adding the lost weight to the rest of the model (in the sdf) or changing the PIDs.
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