Recent content by Joel Graff

For the purposes of solving this problem, I guess it's best just to ignore the velocity PIDs. You'll note that I actually set pitchCommand to a fixed 0.392, regardless of what the X velocity PID is outputing, and the Y / roll pair is set to zero because all I want to do is test pitch control...

This is what the system needs to do (links to an animated gif): http://vignette4.wikia.nocookie.net/physics/images/0/09/Torque_animation.gif/revision/latest?cb=20141124024926 So I basically need to pulse the rotational PIDs at just the right time to start / stop rotation. Seems like this is...

Yeah, I've opted to use a genetic algorithm to tune it. Not convinced it's the best approach, but in the linear velocity case (no rotation pids), it seemed to consistently demonstrate convergence... May take a shot at it with gradient descent here eventually, but I need to be able to capture...

Hello, I'm playing around with simulating drones (quadcopters) in Gazebo (an open source robotics simulator). The control system is made up of six PIDs (one for each degree of freedom) and I'm encountering trouble tuning the pids for pitch / roll control. In this case, the linear x / y and...