Python. Create a short How-To manual that describes how to implement and tune a roll angle stabilization controller, and demonstrate the stabilization for roll or pitch.
Checkpoint Synopsis:
The objectives of Checkpoint #2 is to create a short How-To manual that describes how to implement and tune a roll angle stabilization controller, and demonstrate the stabilization for roll or pitch. You will need to describe how a PID controller works, how to implement the controllers, and how to perform closed loop gain tuning. The manual should be written such that you could read the manual in several years and be capable of implementing and tuning a PID controller.
Deliverables:
Within your manual you need to:
1) Describe in detail how a PID controller works conceptually in the context of stabilizing the quadcopter roll angle. What do each of the gains do?
2) Describe in detail how to experimentally tune the roll angle stabilization controllers using closed loop gain tuning.
3) Show the closed loop Z-N test with the pitch oscillations. Show your values/calculations for the PID gains.
4) Conduct a step response using your Z-N gains where you the quadcopter goes from a desired angle of zero to 20 degrees. Show the results (clearly indicate where the step input is started) and estimate the percent overshoot, settling time, and rise time (time to go from 0 degrees to 20 degrees). Comment on your results.
5) In order to safely fly a quadcopter, your attitude stabilization controller needs to be fast and accurate. Modify your gains until you have met the required performance for a 20-degree step response. Percent overshoot < 15%, settling time < 1.25s, and rise time < 0.4s. Show the results for PID controller, with the step input time clearly indicated. Make sure to provide your estimated percent overshoot, settling time, and rise time. Remember, you want your quadcopter to be as stable as possible (you will be performing free-flight testing in several weeks and the more stable your controller is the easier it will be to fly your quadcopter).
Sample Solution
