Design a Yaw Controller for a Toy Quad-Copter

[stosw]

I've been currently playing around with a toy quad-copter that you can write your own programs for and was attempting to make it go to a set of coordinates that are specified. I was wondering if someone could help me design a controller for the yaw component.

I am currently calculating the angle needed to turn by take the two points, starting and destination, and using a triangle to find the angle. This works great for a stationary object and turns to the desired angle. The problem comes from the toy not staying directly in place while rotating.

Any input would be greatly appreciated.

 

[anorlunda]

It is wrong to think about roll, pitch, yaw one at a time. All of them interact so much. Yaw and side slip are also closely associated.

This paper not only describes the inner control loops, but also how to fine tune them.

http://ardupilot.org/plane/docs/roll-pitch-controller-tuning.html