I'm building quadcopter from scratch, software is implemented on STM32F4 microcontroller. Frequency of main control loop equals 400Hz.
I've though everything is almost finished but when i've mounted everything and started calibration of PIDs i faced a problem. It was impossible to adjust PID parameters properly. So i started test with lower power (not enough to fly) and i've managed quite fast adjust PID for roll but when i've increased power problems with control came back.
I didn't make test with blades but probably this is even worse and that is why i cannot calibrate it.
- If problem is due to vibration how can i fix it?
- If something else is cause of that symptom, what is it?
- Can i solve this through better controls and data fusion algorithms? Now i use complementary filter for acc and gyro sensors data fusion in roll and pitch.