From aea98ef8ca64c8b74d65f7ac08add1bb2b7e9b11 Mon Sep 17 00:00:00 2001 From: Junwoo Hwang Date: Mon, 9 Jan 2023 19:08:33 +0100 Subject: [PATCH] MC PID Tuning Cookbook: Add pre-conditions (Step 2) --- en/config_mc/pid_tuning_guide_multicopter_cookbook.md | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/en/config_mc/pid_tuning_guide_multicopter_cookbook.md b/en/config_mc/pid_tuning_guide_multicopter_cookbook.md index ad97d7f48e99..a66827a3d035 100644 --- a/en/config_mc/pid_tuning_guide_multicopter_cookbook.md +++ b/en/config_mc/pid_tuning_guide_multicopter_cookbook.md @@ -53,6 +53,14 @@ If you don't set any value, the default will be `0.0`, which assumes linear rela ## Step 2: Pre conditions +Before you go on any further, make sure the actuators outputs are correctly mapped. This can be done by going through the [output assignment](../config/actuators.md#output-assignment-and-configuration). + +Make sure that the motors order and direction of rotation as as expected! With a wrong motor assignment, the PID controller can output undesirable results (e.g. Drone flipping and crashing). + +### Motor Tilting for Yaw Authority + +Furthermore, it is recommended to [tilt the rotors](./mc_motor_tilting_for_yaw.md) to increase the yaw control authority. Especially if your vehicle is very large (with high moment of inertia around yaw-axis). + ## Step 3: Rate control tuning ## Step 4: Attitude control tuning