Hi all,
I want to understand one thing if I use only Alt_hold mode and Loiter mode for flying, is it necessary tune stabilize roll, Pitch , yaw parameters? Like ATC_RAT_RLL_P, ATC_ANG_RLL_P??
or any other parameter I have to tune like PSC parameters??
kindly respond, Thanks in advance.
yes, it is necessary to tune all of these, the base of any flight is stabilize, as the drone always returns to level, even loiter and althold. You need to tune roll and pitch and yaw. PSC parameters can be tuned, but default usually works good enough
It is important to tune them in the correct order.
Tuning them in the wrong order will produce oscillations, and a myriad of other problems.
What is the correct order? It is the order that the ArduPilot methodic configurator software guides you through. And the software automatically sets 80+ parameters correctly, so that you can concentrate on the other ones that really need your attention.
In the beginning you can only use Stabilize mode, then after some steps you can start using AltHold, then after some more steps you can start using Loiter and Auto.
Using Loiter and/or Auto without a tuned drone is dangerous and irresponsible.
is this control system ladder right?
Position Controller (Loiter only)
↓
Velocity Controller (PSC params)
↓
Angle Controller (ATC_ANG_)
↓
Rate Controller (ATC_RAT_)
↓
Motors
Right, the software above guides you through the entire process