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New Controller Options other than PID

I need to replace PID controller in ardupilot with custom torque controller. So, to approach the problem, I am starting with making a new manual mode which doesnt use AC libraries, applies my basic PID in the mode only(which will later be replaced) and pass commands directly to motors. I will later include the control loop in attitude control so i can use it with other Autopilot modes too. Any suggestions or advice which could help?

People over in the gitter research channel might be able to help out.

Peter

@aby03,

We’ve got some info here on the attitude controllers. I think it’s the AC_AttitudeControl library that you’ll have to modify. AP uses cascading PIDs though (attitude -> rate, rate->motors) so I’m unsure if you’ll have to replace both PIDs or just one. We also do a bunch of linearisation at various levels to make the PIDs perform better, I hope this doesn’t get in the way of what you’re trying to do.

Re chatting on Gitter, also feel free to ask question in the main gitter channel: https://gitter.im/ArduPilot/ardupilot

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