I am doing a project on self balancing quadcopter with Autonomous control. I am using Arduino Mega 2560 and MPU6050. I have obtained the roll and pitch angles from MPU6050 without the help of DMP and applied complementery filter to omit the noise due to vibration. Also Configured and able to run the BLDC motors with Flysky Transmitter and receiver with the help of arduino interrupts. Now for balancing I am focusing on only one axis(i.e. roll). I have also constructed a balancing stand for the free movement of roll axis by the motor.
For the controlling part, I am implementing PID algorithm. I tried using only the kp value so that, somehow I can balance and then move on to ki and kd term. But unfortunately, for Kp itself, the quadcopter is undergoing aggressive oscillation and is not settling at all.
Some of my queries are,
- whether a single PID loop is enough, or we have to add another
- what type of tuning method, i can implement, to find the kp, ki, kd other than trial and error
- I programmed my ESC for 1000 to 2000 microseconds. My PID input angles will be within the range +/- 180. Whether I can directly set the pid output limits for range -1000 to 1000 or -180 to 180 or any other value.
The code can read from the url https://github.com/antonkewin/quadcopter/blob/master/quadpid.ino