Questions tagged [stability]

the state or quality of being stable.

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20
votes
4answers
6k views

What frequency does my quadcopter output-sense-calculate-output update loop need to stay stable?

With a 600 mm (2 foot) motor-to-motor quadcopter, what frequency does my output-sense-calculate-output update loop need to stay stable? I'm estimating a total takeoff weight of very roughly 2 pounds (...
13
votes
3answers
19k views

Quadcopter PID tuning

In continuation of the question I asked here: Quadcopter instability with simple takeoff in autonomous mode ...I'd like to ask a few questions about implementing a basic PID for a quadrotor ...
21
votes
5answers
2k views

Is it better to have batteries distributed at the rotors or the center of the multicopter?

I've seen 3 approaches to mounting batteries on a multicopter: All the batteries rigidly mounted near the center of the airframe All the batteries in a bag hanging under the center of the airframe ...
12
votes
3answers
14k views

How to stabilize a quadcopter

Today was my quadcopter's first "flight". I'm running megapirate on a Crius AIOP v2 with a Turnigy Talon v2 frame. I only touched the throttle stick on my remote, nothing else. When I felt the ...
2
votes
1answer
758 views

Quadcopter PID Controller: Derivative on Measurement / Removing the Derivative Kick

Good day, I am currently implementing a single loop PID controller using angle setpoints as inputs. I was trying out a different approach for the D part of the PID controller. What bought this ...
9
votes
4answers
9k views

How to use quaternions to feed a PID quadcopter stabilization loop?

I'm making a quadcopter. I have set up a PID loop to stabilize it to a given Euler angle (pitch and roll). The problem arises when the roll approaches 90 degrees (45 degrees and up). The values don't ...
6
votes
2answers
5k views

Quadcopter PID Control: Is it possible to stabilize a quadcopter considering only angle measurements?

Good day, I am a student currently working on an autonomous quadcopter project, specifically the stabilization part as of now. I am using a tuned propeller system and I also already considered the ...
13
votes
2answers
1k views

Is it better to have weight distributed over the wheels or the center of the robot?

When designing a standard 4 or 6 wheel robot, is it better to have the weight distributed primarily in the center of the robot, or over the wheels, or is there no difference? Specifically, which ...