I'm making my own quad controller from scratch. I have fixed one axis on a "pendulum" so that only one axis can move freely ( + mode). Let's say that I have 0 throttle. As you know PID output is added or taken away from throttle value on each motor.
My values of PID output are one instance let's say 5. (Quadcopter is laying at 5 degrees angle). Even in that case, one motor will spin at 5 speed, while other will be at -5 (won't move).
I'm asking beacuse when I add throttle to my quad and if I angle it at 10 degrees, it bounces on the other side and then again back, untill I add at least half throttle, which is kida agressive and I can't imagine this scenario with 4 motors. So is there any way I can compensate this values?
Thanks for the help!