I was wondering if anyone has any advice for tuning the position control PIDs?
My current setup is as follows:
- 1.6.0 (40aa7857) with LPE
- OptiTrack for pose estimation
- LPE_FUSION = 12
Log of recent flight: http://review.px4.io/plot_app?log=95288759-e565-429b-a4e9-0685c5df7932
Currently, position control is working, but it tends to drift when holding position and overshoot xy control commands. I am hoping to reduce drift in position hold and increase how precisely the quad can be controlled.
I have found the px4 PID tuning guide here: https://docs.px4.io/en/advanced_config/pid_tuning_guide_multicopter.html, but it doesn't mention tuning position control.
I have also found the parameter list here: https://docs.px4.io/en/advanced_config/parameter_reference.html. I think I should be adjusting the MPC_Z/XY_P and the MPC_Z/XY_VEL_P/I/D parameters, is this correct?
If anyone has any tips or advice on tuning position control, it would be greatly appreciated.
Please let me know if I have forgotten anything / need to give additional information.