Need help with adaptive controllers for copter

ArduCopter
1

Hi all,

I am wondering if ArduCopter has an adaptive controller rather than just fixed PID gains. Has anyone implemented any adaptive control method for ArduCopter?

Thanks,
Best,
Ayad

2

Search this forum, I think someone has done a LQR at some point. And check the pull request, might be something it there as well.

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3

Here is the PR for LQR.

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4

Thanks Hendjosh,

I am thinking of an adaptive method that tune its parameters online. For example, tuning PID gains online according to the changes to system dynamics. It is still hard to find the best gains for the LQR controller, which is similar to the PIDs.

Best,

5

There is the “system identification” flight mode that allows you to build a model of your system. You can maybe use that together with a lot of lua scripting to get a sort of autotune

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