Quadcopter

hi ,

      working on quad copter (x ) configuration having following spec

1)imu --> mpu6050 dmp
2) control board :aurdino due
+ other usual things ...

i had done roll , pitch logic , in pid logic mine ..but when trying tune pid seeing pendulum effect  rolling right , left uncontrollably..the pid lib in aurdino not accepting -ve values thats y had used own code ...kindly go through code , throw light on issue

regards
midhun mohan

quote

the pid lib in aurdino not accepting -ve values

sorry, not true. actual value can above or below setpoint, , output should defined correctly. post proof, if seeing different results.

i saw neat link on pid, guy had variations on p, i, , d terms, , showed effects of them individually , in combination. unfortunately, didn't save link.

code: [select]

    attachinterrupt(interrupt_pin, dmpdataready, rising);
the attachinterupt() function not take pin number first argument. takes interrupt number related pin.

which arduino code for? have 7 calls attachinterrupt(). arduinos don't have 7 external interrupt pins.

code: [select]

    pidr (roll_des , roll_act , kp ,  ki , kd  );
    pidp (pitch_des , pitch_act , kp ,  ki , kd  );
does make sense use same terms roll , pitch?

how 2 functions differ? why need 2 functions appear (without lot of study) same thing? @ first glance, static variables in functions different. use global variables, arguments, , 1 function, unless there non-obvious, fundamental difference.

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