Hi,
I am building a quadrotor for first time and I implemented rate mode successfully… 
The problem is I can’t implement angle mode over the rate mode! 
Rate mode works great, but when I enable angle mode, quadrotor is too slow to stabilize with some overshoot. It takes a few second to go to desired angle and when I release the stick, it returns in the same way… 
This is what I did in code:

rate_needed = PIDcalculate(&pid_roll_stab, desired_angle, current_angle);
pwm_for_roll = PIDcalculate(&pid_roll_rate, -rate_needed , current_rate_gyro);

Rate PID has P,I coefficents and Angle PID has P for now…
I have not any blackbox log or video... 
Thank you

Hi there, im sorry but please could you explain more what's your equipment? I can see there two C programming functions, am I correct? Are you building your own firmware?

(09-Jul-2016, 03:17 PM)Pippos Wrote: Hi there, im sorry but please could you explain more what's your equipment? I can see there two C programming functions, am I correct? Are you building your own firmware?

Sorry! you right...
Yes I'm building my own firmware...

Using GY85 as IMU, EKF for calculate angles and it give me the angle nicely...
My quadrotor is unbalanced, frame 650...
I'm using my own PID code (Tested with Rate mode)...
Rate mode is smooth , but angle mode is very slow...


Rate PID coefficents : 0.76 , 0.11 , 0.0 for P,I,D respectively.
Stabilizer PID coefficents : 0.5 , 0.0 , 0.0


Consider the quadrotor wants to go to disired angle (0) from angle -20 on one axis
It accelerates and goes to -15 very slow and waits a small time.. then the quadrotor accelerates from -15 to -9 and get slower until it arrive to -9, then accelerate again to go to 0 and gets slower until 0... 

Thanks
I have a problem with visiting this site, It says my IP address banned! I just signed up on this forum yesterday and I don't know why! Sorry if I make a mistake or breaking the rules...

Maybe you are using an ISP IP range that are banned.

About your problem, am afraid I can't help you. I have never used Arduino before as I'm a programmer myself.
If from rate mode to an angle mode you are getting this problem try to narrow down the possibilities. Maybe the GY85 IMU its too slow processing the data? There are several howto guides online if you search.

Is this a homebrew project or you are following a guide?

(10-Jul-2016, 12:02 PM)Pippos Wrote: Maybe the GY85 IMU its too slow processing the data? There are several howto guides online if you search.

Is this a homebrew project or you are following a guide?

I tested IMU and the whole proccess of reading, calculating angle is about 5ms.
The loop is runnung in about 10ms and the angle calculation sounds good... 


That's my university project, and should finish it in ten days 
Thanks for your help.

One question, Maybe it related to I gain of rate PID? in angle mode, should rate PID has I gain?
I don't use arduino, I'm using mega2560 with codevision compiler...

Ok, Now I have another question...
for Stabilizer Controller, should I use double-loop control or I can do this with one loop?