I am having problems tuning turn rate on small skid-steer rover with Pixhawk1 as controller. It keeps oscillating when stationary but when moving or turning on command in acro mode - it behaves reasonably well. It drives straight without yaw input and turns OK too. I tried setting FF to 0 or minimal value without improvement. Setting P and I to 0 resolves oscillation but if I change it even to 0.0001 - it starts doing it again. Currently I have P=0.2, I=0.1,D=0,FF=0.35.
On tuning chart piddesired is 0 and pidarchived changes between -50 and 50 when rover is supposed to be standing still. Compass is calibrated and stable, rover drives fine in manual and acro (just does not stand still in acro).
Any advise?
Thanks.
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