My vertical takeoff and landing drone had poor landing accuracy during the qrtl phase. Even though I used RTK to indicate GPS accuracy, the drone still had an error of about 30cm or even less than 20cm. I don’t know if this is correct. I think it’s because of the PID problem with my position control, but when I adjusted the PID of the position control in qloiter, I found that its position control is still good, but qrtl is not very ideal. Are these two positions controlled differently during vertical landing. https://drive.google.com/file/d/1GuA9kDD8Fhpfbz_z99NC3N0QpikfZVTr/view?usp=drive_linkhttps://drive.google.com/file/d/1H-hEE-273AKp1AssVtWQEi7VfhGytlOs/view?usp=drive_link 169 is a test conducted by my qloiter, and 196 is a test under auto. It is evident that the position is being adjusted back and forth
Tune it better and it will land more accuratly.
Tuning is the primary lever to pull here, but your GPS configuration is also less than ideal.
Use GPS1_RATE_MS,200. You have a lot of jitter in the NMEA message timing, and you may be up against bandwidth limits for RTCM3 throughput and message output.
This also appears to be a custom flight controller, and we can’t really guarantee results when we don’t know (or have tested) the architecture.
What mode should I adjust? The two position control curves in the picture have the same parameters and were flown by the same aircraft. So I’m a bit confused, why is there so much difference. I don’t even know how to adjust the direction
I don’t know which flight mode to adjust in. The data curves in the two pictures above are from the same aircraft with the same parameters, but I don’t know why there are so many differences, which makes me confused about how to adjust.
GPS1_RATE_MS,100 I changed this to 100ms a long time ago
I know. Change it to 200.
I have changed it to 200, which actually looks much better, but from the data, there is basically no change. I don’t know how to adjust the PID in the position. The landing error of the drone gradually increases every time it is about 1 meter off the ground