How to tune the PID parameter?

[YUJX19]

How to adjust the PID parameter of the multirotor? I only get the drone's trajectory but can't control it smoothly. BTW, could you mind pointing me how to determine the value of the map/x_size of MAP?

[Leon-Redfield]

Hi! For the first problem, the PID parameters of the drone is at :
> src/Ctrl/config/ctrl_param_fpv.yaml
For the second problem, the map size is fixed after the Airsim map has been constructed, I advise not changing this parameter or the planner may not work, unless you utilize this planner in another brand new scene.

[YUJX19]

Hi! For the first problem, the PID parameters of the drone is at : > src/Ctrl/config/ctrl_param_fpv.yaml For the second problem, the map size is fixed after the Airsim map has been constructed, I advise not changing this parameter or the planner may not work, unless you utilize this planner in another brand new scene.

Thank you very much for pointing out the PID configuration file directly, which saved me a lot of time~ 😀

One more question, how to calculate the value of the map/x_size of MAP provided in the repo?
I created a simple Airsim map in UE4 and packaged it as an application. Still, I couldn't calculate the map size and didn't find the relevant map data directly in the configuration.

[Leon-Redfield]

Hi! For the first problem, the PID parameters of the drone is at : > src/Ctrl/config/ctrl_param_fpv.yaml For the second problem, the map size is fixed after the Airsim map has been constructed, I advise not changing this parameter or the planner may not work, unless you utilize this planner in another brand new scene.

Thank you very much for pointing out the PID configuration file directly, which saved me a lot of time~ grinning

One more question, how to calculate the value of the map/x_size of MAP provided in the repo? I created a simple Airsim map in UE4 and packaged it as an application. Still, I couldn't calculate the map size and didn't find the relevant map data directly in the configuration.

Adjustment of the map size is in this file:

src/plan_manage/launch/zhangjiajie.launch map/x_size

The total map is a cube, from left to right is the x_size, from back to front is the y_size, and from down to up is the z_size. Therefore, how to choose the map size all depends on how large your new map is. Generally, we adjust the map size much bigger than the scene size.
Also, you can make your scene and the total map shown on Rviz to see whether all the obstacles are included in the total map and adjust the map size until above is satisfied.