Hi there, I have built a quadrocopter .... only thing left to do is to tune my PID-controller. At the moment, I only implemented the PID controller for the roll angle and still trying to get the right parameters. At the moment, my values arep = 0.43i = 0.10d = 0.051(input value is the current and desired Euler angle for roll, motor commands are 0-255, control frequency is about 200Hz) The only problem is: I still got a steady-state error, but I can't compensate for it by increasing i. The…See More