Hi all,

I am sorry if this problem has been answered but I cannot find much help from the archive.

I am trying to hover a R/C helicopter with a IMU using PID on a test
bench (omnidirectional).

I track the Euler angle to be all zeros w.r.t the inertial orientation (when it rests on the ground) but failed. Then I tried to track the angular velocity of the vehicle to be zeros along all 3 axis, but still, failed as the tends to roll or pitch and rest the boundary on the bench.

I would like to know if I use PID to control this kind of vehicle, then what are the tracking target (desired value) I should use???

Thank you!

Nick

I am sorry if this problem has been answered but I cannot find much help from the archive.

I am trying to hover a R/C helicopter with a IMU using PID on a test

I track the Euler angle to be all zeros w.r.t the inertial orientation (when it rests on the ground) but failed. Then I tried to track the angular velocity of the vehicle to be zeros along all 3 axis, but still, failed as the tends to roll or pitch and rest the boundary on the bench.

I would like to know if I use PID to control this kind of vehicle, then what are the tracking target (desired value) I should use???

Thank you!

Nick