djiuser_ICKLi0ig7P4k
lvl.1
Spain
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I am the author of AeroSIM RC, and I have experienced the behaviour described in this topic with a Naza V1.
I have an explanation, which I discovered when implementing the GPS flight mode in the DJI-F450 drone in the simulator.
It is related to the Integral term of the PIDs that control the position.
The GPS flight mode in the simulator uses two PID controllers: one for X and other for Y axis.
The Integral term of the PID controller is the one than cancels the drift with the wind.
When the user yaws the drone, the Integral terms of the X and Y PID controllers require some time to reach the new value, and in the meantime, they act in the wrong direction.
To solve the drift not found in modern flight controllers, in the latest version v4.61 of AeroSIM RC, I have added an option to the simulator which rotates the X and Y integral terms according to the drone yaw. This completelly solves the issue. |
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