Hi folks,
I’m trying to tune the roll- and pitch-pid for the rate control loop of a 10-inch quadrotor. The step responses for roll rate and pitch rate are generated under the initial settings( default value in PX4 v1.12) as shown below:
After raising the D-Term of roll and pitch up to 0.0047, things get better:
Here are two questions:
- As described in the official cookbook, under the parallel form, the D-Term shouldn’t be beyond 0.005. How can I reduce the overshooting further without raising the D-Term? Or maybe this kind of overshooting is already acceptable?
- The response is a bit slow, isn’t it? Should I raise P-Term for quicker response, which would make the overshoot issue even worse, and come into the first question?
Thanks in advance!