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Full Parameter PDF

Overview

The PID parameter group (specifically PID_DZ) configures the Controller Deadzone.

Key Concepts

1. Deadzone (PID_DZ)

In highly sensitive systems (like an indoor Blimp), the PID controllers might constantly "hunt" or jitter around the target even if the error is extremely small.

  • PID_DZ: Defines the minimum error threshold (e.g., in meters for position) below which the controller will output zero command.
  • Purpose: Saves battery and reduces motor wear by ignoring negligible errors.

Developer Notes

  • Vehicle: Primarily used in ArduBlimp.

PID_DZ

m
Default 0
Range 0.1 1

Deadzone for the position PIDs (PID_DZ)

Description

This parameter defines a spherical "Rest Zone" around the target loiter point for the Blimp. If the vehicle is within this distance of the target, the position controller outputs zero thrust. This prevents the blimp from constantly making tiny motor adjustments to correct negligible errors, which saves battery and reduces noise.

The Mathematics

$$ \text{If } |\vec{P}{\text{err}}| < \text{PID\_DZ} \implies \vec{T}{\text{cmd}} = 0 $$

The Engineer's View

Defined in Blimp/Parameters.cpp. Affects the output of the Loiter controller.

Tuning & Behavior

  • Default Value: 0 (Disabled)
  • Large Blimps: Set to 0.5m or 1.0m to allow for drift without constant actuation.
View Source
PosHold Mode Configuration (PHLD) Pilot Input Configuration (PILOT)