Comment by Alex Pabouctisids on June 25, 2011 at 9:33am

Would you be able to log the the roll and pitch angles, as well the the throttle controls during a flight?

With the input / output data, i could try to calculate some PID gains using Matlab.

 

- Alex

Comment by Ramanf on June 25, 2011 at 1:44pm

Alex, can you explain how to tune PID gains using input / output data. do you calculate the transfer function with matlab ?

Comment by Alex Pabouctisids on June 25, 2011 at 1:52pm

Matlab has a system identification toolbox (typing "ident" in the command window will bring it up). There you can import input/output data, select specific segments of data to work with, and compute a transfer function. it can then display a simulation of the transfer function using another segment of data comparing the simulated and measured results.

Once you have a proper transfer function, tuning the PID with classical methods is easy. You could also use Matlab's sisotool (type 'sisotool' in command window) and then have it compute a PID automatically (which works adequately most of the time).

Comment by Sebastian Gralla on June 25, 2011 at 2:27pm

it would be absolutely amazing if this could be integrated into APM (automatic PID tuning) ;)

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