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This is a problem because you are attempting to map your PID directly to their output, which has a minimum value. …

It sounds like you've missed the core concept of a PID, so let's start from scratch. … In mathematical terms, a PID controller decides how much force to apply in order to move a system in 1-dimensional space -- from an actual position to a desired position. …

It would be silly to run the PID at 0Hz just because the setpoint never changes. TL;DR, don't wait for pilot input inside your PID loop. … Let the PID loop run at constant frequency and feed it new setpoints whenever they become available. …

It sounds like you don't need a PID controller at all. You're trying to move a worm gear until it reaches a given set point, then turn it off -- proportional control sounds like all you'd need. …

For your PID to work properly, you need to be able to make a somewhat linear conversion of error (desired roll vs actual roll) into corrective force (in this case, provided by the control surfaces -- the … The $k_d$ term of your PID should account for the inertia of the plane in rolling from side to side, so don't worry about that in your measurements. …

You also seem to have a misconception about how the PID controller and ESC are coupled together; in fact, the PID controller can work at whatever frequency it wants. … The output of the PID will be some value, and in order to send that value to the ESC you will need to convert it to a pulse-width modulated (PWM) signal on the frequency that the ESC uses for input. …

The problem is here: Since, for PID ERROR = SETPOINT - INPUT This is only true for linear systems. … (For the PID to work properly for angles, you would need to keep track of the absolute yaw value, which would indicate how many rotations you've done in one direction or the other. …

In fact, I don't think you're applying the PID correctly at all. From your code, my guess is that you're using get_segment_center to determine the adjustment that you need to make. … The output of a PID takes an error and gives you a correction, so if your error is in inches then your correction will be in inches; if the error is in degrees, your correction will be in degrees, and …

Imagine that you set up a PID controller on your own arm, so that you could hold a cup of coffee straight out in front of you. … Most PID controllers have an additional term to specify a reasonable limit on the size that the integral element can be. …

The PID equation takes the error measurement (actual position - desired position) and determines how much "response" should be commanded in the controller (e.g. how much force). …

If you've built this from scratch, the best person to troubleshoot your code is yourself. Look at the basic pieces of the code: the sensor, the PIDs, and the motor control. Write some functions to h …

The factors that you mention will definitely have an effect on the accuracy of your PID. … Before you start in this direction, make sure that you've actually found a problem behavior that is being caused by naive conversion of PID level to PWM level (i.e., you know that your PID is tuned properly …

Since you are attempting to slow down a car when the road gets too bumpy, a PID controller is not what you want. … Or rather, the bumpiness of the road will determine the desired speed that goes into the PID, instead of being part of the PID's sensor feedback loop. …

You are using a PID incorrectly. You are reading sensor values that in terms of acceleration, but you are using that to correct an error in velocity (without conversion). … Your PID should be reading and controlling the same measurement -- velocity vs velocity, acceleration vs acceleration, or position vs position. …

To me, the straightforward explanation seems that you are applying a desired torque, but on multiple motors -- when you use 1 motor you get 1× torque, and when you use two motors you are getting 2× to …