{"id":6218,"date":"2020-09-11T17:53:11","date_gmt":"2020-09-11T08:53:11","guid":{"rendered":"http:\/\/www.nkozawa.com\/blog\/?p=6218"},"modified":"2023-06-08T09:03:20","modified_gmt":"2023-06-08T00:03:20","slug":"pidtoolbox%e3%82%92%e4%bd%bf%e3%81%a3%e3%81%a6%e3%81%bf%e3%82%8b","status":"publish","type":"post","link":"http:\/\/www.nkozawa.com\/blog\/archives\/6218","title":{"rendered":"PIDToolBox\u3092\u4f7f\u3063\u3066\u307f\u308b"},"content":{"rendered":"

\u3055\u3089\u306b\u6700\u65b0\u7248\u3067\u306f\u3044\u308d\u3044\u308d\u3068\u5909\u308f\u308a\u307e\u3057\u305f\u3002v0.62\u3067\u306e\u4f8b\u306fhttps:\/\/www.nkozawa.com\/blog\/archives\/7178<\/a>\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\u3002<\/p><\/blockquote>\n

\u6700\u65b0\u7248\u5c0e\u5165\u3057\u305f\u3089\u968f\u5206\u3068\u753b\u9762\u304c\u5909\u308f\u3063\u3066\u3044\u307e\u3057\u305f\u3002\u5c0e\u5165\u306a\u3069\u306f\u3053\u306e\u8a18\u4e8b\u3092\u898b\u3066\u3044\u305f\u3060\u304f\u3068\u3057\u3066\u65b0\u3057\u3044\u753b\u9762\u306b\u3064\u3044\u3066\u306fPIDtoolbox v0.44<\/a>\u3092\u5fa1\u89a7\u304f\u3060\u3055\u3044\u3002<\/p><\/blockquote>\n

BlackBox\u30ed\u30b0\u306f\u5965\u6df1\u304f\u306a\u304b\u306a\u304b\u5b8c\u5168\u306b\u4f7f\u3044\u3053\u306a\u3059\u3053\u3068\u306f\u96e3\u3057\u3044\u3067\u3059\u304c\u3001\u306a\u3093\u3068\u306a\u304f\u5c11\u3057\u305a\u3064\u4f7f\u3046\u3088\u3046\u306b\u3057\u3066\u3044\u307e\u3059\u3002\u4eca\u307e\u3067\u306f\u6a19\u6e96\u306eBetaflight Blackbox Explorer\u3092\u4f7f\u7528\u3057\u3066\u3044\u307e\u3057\u305f\u3002\u3053\u308c\u306f\u6642\u7cfb\u5217\u3067\u306e\u4e8b\u8c61\u3092\u78ba\u8a8d\u3059\u308b\u306e\u306b\u9069\u3057\u305f\u30c4\u30fc\u30eb\u3067\u3059\u3002\u3053\u306e\u52d5\u4f5c\u306e\u3068\u304d\u306b\u306fpropwash\u304c\u8d77\u304d\u3066\u3044\u308b\u3068\u304b\u30b9\u30c6\u30a3\u30c3\u30af\u306e\u52d5\u304d\u306b\u8ffd\u5f93\u51fa\u6765\u3066\u3044\u306a\u3044\u3068\u304b\u3001\u53d7\u4fe1\u6a5f\u304b\u3089\u306e\u4fe1\u53f7\u304c\u5931\u308f\u308c\u3066failsafe\u306b\u306a\u308b\u69d8\u5b50\u3001\u3042\u308b\u3044\u306f\u30af\u30e9\u30c3\u30b7\u30e5\u5f8c\u306bdis-arm\u3059\u308b\u4ee3\u308f\u308a\u306b\u98db\u884c\u30e2\u30fc\u30c9\u5207\u308a\u66ff\u3048\u30b9\u30a4\u30c3\u30c1\u52d5\u304b\u3057\u3066\u3044\u308b\u307f\u305f\u3044\u306a\u4e8b\u3082\u5206\u304b\u308a\u307e\u3059\u3002<\/p>\n

\u3082\u3046\u4e00\u3064\u306eBlockbox\u3092\u89e3\u6790\u3059\u308b\u30c4\u30fc\u30eb\u3067\u3042\u308bPIDtoolbox\u306b\u3064\u3044\u3066\u7c21\u5358\u306a\u4f7f\u3044\u65b9\u3092\u8abf\u3079\u305f\u306e\u3067\u3001\u305d\u308c\u306b\u3064\u3044\u3066\u66f8\u3044\u3066\u307f\u305f\u3044\u3068\u601d\u3044\u307e\u3059\u3002\u79c1\u81ea\u8eab\u304c\u4f7f\u3044\u3053\u306a\u3059\u3068\u3044\u3046\u30ec\u30d9\u30eb\u3067\u306f\u306a\u3044\u306e\u3067\u8d70\u3089\u305b\u65b9\u3068\u521d\u6b69\u7684\u306a\u89e3\u8aac\u306b\u3068\u3069\u307e\u308a\u307e\u3059\u3002\u305d\u308c\u3059\u3089\u9593\u9055\u3063\u305f\u3053\u3068\u3092\u66f8\u3044\u3066\u3044\u308b\u53ef\u80fd\u6027\u3092\u8e0f\u307e\u3048\u3066\u8aad\u3093\u3067\u307f\u3066\u304f\u3060\u3055\u3044\u3002PIDtoolbox\u306f\u30ed\u30b0\u5168\u4f53\u3092\u898b\u6e21\u3057\u3066\u7d71\u8a08\u7684\u306a\u51e6\u7406\u3092\u65bd\u3057\u3001\u8996\u899a\u306b\u8a34\u3048\u308b\u30c7\u30fc\u30bf\u3092\u8868\u793a\u3059\u308b\u30c4\u30fc\u30eb\u3067\u3059\u3002PID\u306e\u8abf\u6574\u3084\u30b8\u30e3\u30a4\u30ed\u306e\u30ce\u30a4\u30ba\u306b\u5bfe\u3057\u3066\u7d76\u5bfe\u5024\u3067\u8a9e\u308b\u3060\u3051\u306e\u77e5\u8b58\u304c\u306a\u304f\u3066\u3082\u8abf\u6574\u524d\u5f8c\u3042\u308b\u3044\u306f\u826f\u3044\u6a5f\u4f53\u3068\u60aa\u3044\u6a5f\u4f53\u306e\u30c7\u30fc\u30bf\u3092\u30b0\u30e9\u30d5\u3067\u6bd4\u8f03\u3059\u308b\u3053\u3068\u306b\u3088\u308a\u554f\u984c\u70b9\u304c\u898b\u3048\u3066\u304d\u307e\u3059\u3002<\/p>\n

[ \u5c0e\u5165 ]<\/strong>
\nPIDtoolbox<\/a>\u306fGithub\u306b\u3066\u958b\u767a\u7ba1\u7406\u304c\u884c\u308f\u308c\u3066\u3044\u307e\u3059\u3002\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u306frelease\u30da\u30fc\u30b8<\/a>\u3067\u884c\u3044\u307e\u3059\u30022020\/09\/10\u6642\u70b9\u306e\u6700\u65b0\u30d0\u30fc\u30b8\u30e7\u30f3\u306fv0.392\u3067\u3059\u3002\u4ee5\u4e0b\u306e\u8a71\u306f\u3001\u3053\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u3067\u306e\u8a71\u3067\u3059\u3002<\/p>\n

Windows\u7248\u3082Mac\u7248\u3082\u307b\u3068\u3093\u3069\u540c\u3058\u3067\u3059\u3002\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u305fzip\u30d5\u30a1\u30a4\u30eb\u3092\u5c55\u958b\u3057runtime_installation_file\/MyAppinstaller_web\u3068\u3044\u3046\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u5b9f\u884c\u3057\u5c0e\u5165\u4f5c\u696d\u3092\u884c\u3044\u307e\u3059\u3002<\/em>\u3053\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30e9\u30fc\u306e\u4e3b\u306a\u76ee\u7684\u306fMATLAB\u3068\u3044\u3046\u5916\u90e8\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u5c0e\u5165\u3067\u3059\u3002\u3068\u3053\u308d\u304c\u3001\u3064\u3044\u3067\u306bPIDtoolbox\u3092\u30d7\u30ed\u30b0\u30e9\u30e0\u30e1\u30cb\u30e5\u30fc\u306b\u3082\u767b\u9332\u3057\u307e\u3059\u3002\u3053\u308c\u304c\u66f2\u8005\u3067Windows\u30b9\u30bf\u30fc\u30c8\u30e1\u30cb\u30e5\u30fc\u3042\u308b\u3044\u306fmacOS\u306e\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u304b\u3089PIDtoolbox\u3092\u8d77\u52d5\u3057\u3066\u3082\u52d5\u304d\u307e\u305b\u3093\u3002\u3082\u3046\u3072\u3068\u3064\u306e\u5916\u90e8\u30d7\u30ed\u30b0\u30e9\u30e0\u3067\u3042\u308bblackbox_decode\u304c\u3046\u307e\u304f\u52d5\u304b\u306a\u3044\u304b\u3089\u3067\u3059\u3002macOS\u3067\u306f\u4e88\u3081blackbox_decode\u3092\u5358\u72ec\u3067\u4e00\u5ea6\u3060\u3051\u8d70\u3089\u305b\u3066\u7f6e\u304f\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059<\/strong>(\u91ce\u826f\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u52d5\u304b\u3059\u305f\u3081\u306e\u5100\u5f0f\u3092\u6e08\u307e\u305b\u3066\u304a\u304f\u305f\u3081\u3067\u3059)\u3002
\n\u7d50\u5c40\u306e\u3068\u3053\u308d\u3001zip\u3092\u5c55\u958b\u3057\u305f\u3068\u3053\u308d\u306b\u3042\u308bmain\/PIDtoolbox\u3092\u76f4\u63a5\u8d77\u52d5\u3059\u308b\u306e\u304c\u826f\u3044\u3088\u3046\u3067\u3059\u3002<\/strong>MATLAB\u306f\u5fc5\u8981\u306a\u306e\u3067\u5148\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30e9\u30fc\u306e\u5b9f\u884c\u306f\u30b9\u30ad\u30c3\u30d7\u51fa\u6765\u307e\u305b\u3093\u3002<\/p>\n

< \u88dc\u8db3 ><\/strong> 2023\/05\/23
\nv0.61\u3067\u306f\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u305f\u5834\u6240\u304b\u3089\u306e\u8d77\u52d5\u3057\u3066\u52d5\u304f\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002\u5c0e\u5165\u6642\u306bblackbox_decode\u3092\u5c55\u958b\u3057\u305f\u30d5\u30a9\u30eb\u30c0\u30fc\u3092\u6307\u5b9a\u3059\u308b\u3088\u3046\u306b\u306a\u3063\u305f\u3053\u3068\u304c\u30df\u30bd\u306e\u3088\u3046\u3067\u3059\u3002<\/p>\n

[ \u30d5\u30a1\u30a4\u30eb\u306e\u9078\u629e\u3068\u8aad\u307f\u8fbc\u307f ]<\/strong>
\n\"\"<\/a><\/p>\n

Select File [A]\u3068Select File [B]\u30682\u3064\u306eblackboc\u30ed\u30b0\u304c\u9078\u629e\u51fa\u6765\u307e\u3059\u3002PID\u3084\u30d5\u30a3\u30eb\u30bf\u30fc\u306e\u8a2d\u5b9a\u524d\u5f8c\u306e\u30ed\u30b0\u3092\u540c\u6642\u306b\u8868\u793a\u3057\u3066\u6bd4\u8f03\u3059\u308b\u4e8b\u304c\u51fa\u6765\u307e\u3059\u3002Windows\u3067\u306f\u4efb\u610f\u306e\u5834\u6240\u306e\u30ed\u30b0\u30d5\u30a1\u30a4\u30eb\u3092\u958b\u304f\u3053\u3068\u304c\u51fa\u6765\u308b\u3088\u3046\u3067\u3059\u304c\u3001macOS\u3067\u306f\u30ed\u30b0\u30d5\u30a1\u30a4\u30eb\u3092\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u3042\u308b\u30d5\u30a9\u30eb\u30c0\u30fc(zip\u5c55\u958b\u5f8c\u306emain\u4e0b)\u306b\u30b3\u30d4\u30fc\u3057\u3066\u304a\u304f\u5fc5\u8981\u304c\u3042\u308b\u3088\u3046\u3067\u3059\u3002<\/p>\n

< \u88dc\u8db3 ><\/strong> 2023\/05\/23
\nv0.61\u3067\u8a66\u3057\u305f\u3068\u3053\u308d\u3001\u30ed\u30b0\u30d5\u30a1\u30a4\u30eb\u306f\u4efb\u610f\u306e\u5834\u6240\u306b\u3042\u308b\u3082\u306e\u3092\u6307\u5b9a\u3059\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3057\u305f\u3002\u9006\u306bmain\u30d5\u30a9\u30eb\u30c0\u30fc\u306f\u30ed\u30b0\u30d5\u30a1\u30a4\u30eb\u3092\u4e00\u6642\u7684\u306b\u30b3\u30d4\u30fc\u3059\u308b\u5834\u6240\u306b\u306a\u308a\u307e\u3057\u305f\u306e\u3067\u3001\u305d\u3053\u306b\u30b3\u30d4\u30fc\u3057\u3066\u4f7f\u7528\u3059\u308b\u3053\u3068\u306f\u51fa\u6765\u306a\u304f\u306a\u308a\u307e\u3057\u305f\u3002<\/p>\n

\u30d5\u30a1\u30a4\u30eb\u3092\u9078\u629e\u5f8c”Load+Run”\u3092\u62bc\u3057\u307e\u3059\u3002\u30ed\u30b0\u306b\u3088\u3063\u3066\u306fSELECT LOG NUMBER\u3068\u3044\u3046\u30c0\u30a4\u30a2\u30ed\u30b0\u304c\u51fa\u307e\u3059\u3002\u305f\u3044\u3066\u3044\u306e\u5834\u5408\u306fduration\u306e\u4e00\u756a\u9577\u3044\u3082\u306e\u3092\u9078\u3079\u3070\u826f\u3044\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n

\"\"<\/a><\/p>\n

\u6700\u521d\u306b\u73fe\u308c\u308b\u306e\u306fBlackbox Explorer\u3068\u4f3c\u305f\u3088\u3046\u306a\u753b\u9762\u3067\u3059\u3002\u6a2a\u8ef8\u304c\u6642\u9593\u3067\u4e0a\u306e\u30c1\u30a7\u30c3\u30af\u30dc\u30c3\u30af\u30b9\u3067\u9078\u629e\u3057\u305f\u30c7\u30fc\u30bf\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002\u3053\u3053\u3067\u91cd\u8981\u306a\u306e\u306f\u7d71\u8a08\u7684\u89e3\u6790\u306b\u5148\u7acb\u3063\u3066\u30c7\u30fc\u30bf\u306e\u7bc4\u56f2\u3092\u9078\u629e\u3057\u3066\u304a\u304f\u3053\u3068\u3067\u3059\u3002st(s)\u3068end(s)\u3068\u3044\u3046\u30d5\u30a3\u30fc\u30eb\u30c9\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002st(s)\u306b\u306f\u4e88\u30812\u3068\u5165\u529b\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u3053\u308c\u3067\u96e2\u9678\u5f8c\u306e\u5b89\u5b9a\u98db\u884c\u90e8\u5206\u304c\u6307\u5b9a\u3055\u308c\u3066\u307e\u3059\u3002end(s)\u306f\u30ed\u30b0\u306e\u6700\u5f8c\u306b\u306a\u3063\u3066\u3044\u308b\u305f\u3081\u3001\u7740\u9678\u6642\u306e\u4e71\u308c\u305f\u30b8\u30e3\u30a4\u30ed\u30c7\u30fc\u30bf\u3082\u542b\u307e\u308c\u3066\u3057\u307e\u3044\u307e\u3059\u306e\u3067\u3001\u9069\u5f53\u306b\u5024\u3092\u8abf\u6574\u3057\u307e\u3059\u3002<\/p>\n

\"\"<\/a><\/p>\n

\u9664\u5916\u3055\u308c\u305f\u7bc4\u56f2\u306f\u30b0\u30e9\u30d5\u4e0a\u3067\u30b0\u30ec\u30fc\u30a2\u30a6\u30c8\u3055\u308c\u308b\u306e\u3067\u8996\u899a\u7684\u306b\u78ba\u8a8d\u3067\u304d\u307e\u3059\u3002<\/p>\n

[ Spectral Analyzer ]<\/strong>
\nSpectral Analyzer\u30dc\u30bf\u30f3\u3092\u62bc\u3059\u3068\u65b0\u3057\u3044\u30a6\u30a4\u30f3\u30c9\u30a6\u304c\u958b\u304d\u307e\u3059\u3002\u305d\u3053\u3067\u8868\u793a\u3057\u305f\u3044\u30c7\u30fc\u30bf\u3092\u9078\u629e\u3057\u3066Run\u30dc\u30bf\u30f3\u3092\u62bc\u3057\u307e\u3059\u3002<\/p>\n

\"\"<\/a><\/p>\n

\u3053\u306e\u6a5f\u80fd\u306f\u30ce\u30a4\u30ba\u306e\u5206\u5e03\u3068\u30d5\u30a3\u30eb\u30bf\u30fc\u306e\u52b9\u304d\u5177\u5408\u3092\u78ba\u8a8d\u3059\u308b\u306e\u306b\u9069\u3057\u3066\u3044\u307e\u3059\u3002\u305d\u3053\u3067\u4e0a\u306e\u4f8b\u3067\u306fGyro, Gypro prefilt, Dterm, Dterm prefilt\u3092\u9078\u629e\u3057\u3066\u3044\u307e\u3059\u3002prefilt\u306f\u30d5\u30a3\u30eb\u30bf\u30fc\u3059\u308b\u524d\u306e\u30c7\u30fc\u30bf\u3067\u3059\u3002\u6b8b\u5ff5\u306a\u304c\u3089Gyro prefilt\u306f\u65e2\u5b9a\u5024\u306e\u307e\u307e\u3067\u306f\u53d6\u308c\u307e\u305b\u3093\u306e\u3067\u3001\u3053\u3053\u3067\u306f\u610f\u5473\u306e\u3042\u308b\u30c7\u30fc\u30bf\u306f\u8868\u793a\u3055\u308c\u3066\u3044\u307e\u305b\u3093\u3002<\/p>\n

\u30b0\u30e9\u30d5\u306e\u6a2a\u8ef8\u306f\u30b9\u30ed\u30c3\u30c8\u30eb\u3067\u7e26\u8ef8\u306f\u5468\u6ce2\u6570\u3067\u3059\u3002Gyro\u306e\u5024\u306e0\u304b\u308980Hz\u304f\u3089\u3044\u306f\u5b9f\u969b\u306e\u6a5f\u4f53\u306e\u6319\u52d5\u304b\u3089\u767a\u751f\u3059\u308b\u3082\u306e\u3067\u3059\u3001\u305d\u308c\u3088\u308a\u9ad8\u3044\u5468\u6ce2\u6570\u306f\u30ce\u30a4\u30ba\u3042\u308b\u3044\u306f\u7570\u5e38\u632f\u52d5\u3068\u8003\u3048\u3089\u308c\u307e\u3059\u3002\u30b9\u30ed\u30c3\u30c8\u30eb\u3092\u4e0a\u3052\u308b\u3068\u3084\u3084\u30ce\u30a4\u30ba\u304c\u591a\u304f\u306a\u3063\u3066\u3044\u307e\u3059\u304c\u3001Gyro\u3092\u898b\u308b\u9650\u308a\u554f\u984c\u306e\u306a\u3044\u6a5f\u4f53\u3068\u8a00\u3048\u307e\u3059\u3002\u5b9f\u969b\u306b\u98db\u3073\u65b9\u3082\u30e2\u30fc\u30bf\u30fc\u306e\u71b1\u3082\u554f\u984c\u3042\u308a\u307e\u305b\u3093\u3002Dterm\u306b\u30ce\u30a4\u30ba\u304c\u591a\u3044\u3088\u3046\u306a\u306e\u3067\u4f55\u304b\u3057\u3089\u554f\u984c\u304c\u3042\u308b\u3088\u3046\u3067\u3059\u304c\u3001\u307e\u3060\u826f\u304f\u5206\u304b\u3063\u3066\u3044\u307e\u305b\u3093\u3002<\/p>\n

\"\"<\/a><\/p>\n

2-D\u3068\u3044\u3046\u30c1\u30a7\u30c3\u30af\u30dc\u30c3\u30af\u30b9\u3092\u5165\u308c\u308b\u3068\u5468\u6ce2\u6570\u5206\u5e03\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002\u3053\u308c\u3092\u898b\u308b\u3068Dterm\u3082\u307e\u305a\u307e\u305a\u30d5\u30a3\u30eb\u30bf\u30fc\u3055\u308c\u3066\u3044\u308b\u306e\u3067\u3001\u554f\u984c\u306a\u3044\u306e\u304b\u3082\u77e5\u308c\u307e\u305b\u3093\u3002\u5225\u306e\u6a5f\u4f53\u306e\u30c7\u30fc\u30bf\u3067\u306f\u3082\u3063\u3068\u7dba\u9e97\u306aDterm\u30b0\u30e9\u30d5\u304c\u5f97\u3089\u308c\u308b\u306e\u3067\u3001\u3084\u306f\u308a\u3061\u3087\u3063\u3068\u6c17\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n

[ Step Resp Tool ]<\/strong>
\n\u30c7\u30fc\u30bf\u306e\u6bd4\u8f03\u4f8b\u3092\u7d39\u4ecb\u3059\u308b\u305f\u3081\u306b\u307e\u305a2\u3064\u306e\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u3093\u3067\u307f\u307e\u3059\u3002
\n\"\"<\/a><\/p>\n

\u30c7\u30fc\u30bfB\u306f\u65e2\u5b9a\u5024\u306ePID, \u30c7\u30fc\u30bfA\u306fD\u5024\u3092\u5c11\u3057\u5f37\u304f\u3057\u305f\u3082\u306e\u3067\u3059\u3002<\/p>\n

Step Resp Tool\u30dc\u30bf\u30f3\u3092\u62bc\u3059\u3068\u4e0b\u306e\u3088\u3046\u306a\u30a6\u30a4\u30f3\u30c9\u30a6\u304c\u958b\u304f\u306e\u3067Run\u30dc\u30bf\u30f3\u3092\u62bc\u3057\u307e\u3059\u3002
\n\"\"<\/a><\/p>\n

PID\u5236\u5fa1\u306e\u72b6\u614b\u3092\u8868\u3057\u305f\u30b0\u30e9\u30d5\u3067\u3059\u3002\u64cd\u7e26\u8005\u306f\u30b9\u30c6\u30a3\u30c3\u30af\u3092\u52d5\u304b\u3057\u3066\u30c9\u30ed\u30fc\u30f3\u3092\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u3057\u307e\u3059\u3002\u30b9\u30c6\u30a3\u30c3\u30af\u306e\u52d5\u304d\u306fFC\u3067\u51e6\u7406\u3055\u308c\u3066setpoint\u3068\u3044\u3046\u5024\u3092\u4f5c\u308a\u51fa\u3057\u307e\u3059\u3002\u3053\u308c\u306f\u30c9\u30ed\u30fc\u30f3\u304c\u64cd\u7e26\u8005\u306e\u610f\u56f3\u306b\u305d\u3063\u3066\u52d5\u3044\u305f\u6642\u306b\u51fa\u529b\u3055\u308c\u308b\u3079\u304dGyro\u306e\u5024\u3092\u793a\u3057\u307e\u3059\u3002\u5225\u306e\u8a00\u3044\u65b9\u3092\u3059\u308b\u3068PID\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u306fGyro\u306e\u5024\u304csetpoint\u3092\u8ffd\u5f93\u3059\u308b\u3088\u3046\u306b\u30e2\u30fc\u30bf\u30fc\u306e\u56de\u8ee2\u3092\u5236\u5fa1\u3057\u307e\u3059\u3002\u7406\u60f3\u7684\u306b\u306fBlackbox Explorer\u3067setpoint\u3068gyro\u30c7\u30fc\u30bf\u30fc\u3092\u8868\u793a\u3057\u305f\u6642\u306b\u3074\u3063\u305f\u308a\u3068\u91cd\u306a\u308b\u3053\u3068\u3067\u3059\u3002\u5b9f\u969b\u306b\u306fGyro\u304c\u5e7e\u5206\u9045\u308c\u307e\u3059\u3057\u3001\u30aa\u30fc\u30d0\u30fc\u30b7\u30e5\u30fc\u30c8\u3057\u305f\u308a\u306a\u304b\u306a\u304b\u5b89\u5b9a\u3057\u306a\u304b\u3063\u305f\u308a\u3057\u307e\u3059\u3002<\/p>\n

Blackbox Explorer\u3067\u306f\u500b\u3005\u306e\u52d5\u4f5c\u306b\u3064\u3044\u3066\u8ffd\u5f93\u5177\u5408\u3092\u898b\u307e\u3059\u304cStep Resp Tool\u3067\u306f\u30ed\u30b0\u5168\u4f53\u3092\u898b\u6e21\u3057\u3066\u7dcf\u5408\u7684\u306a\u8ffd\u5f93\u5177\u5408\u3092\u8868\u73fe\u3057\u3066\u3044\u307e\u3059\u3002\u7acb\u3061\u4e0a\u304c\u308a\u306e\u901f\u3055\u304c\u30ec\u30b9\u30dd\u30f3\u30b9\u306e\u826f\u3055\u3092\u8868\u73fe\u3057\u3001\u305d\u306e\u3042\u30681\u306b\u53ce\u675f\u3057\u3066\u3044\u308b\u69d8\u5b50\u3092\u898b\u307e\u3059\u3002\u3053\u306e\u4f8b\u3067\u306f\u7acb\u3061\u4e0a\u304c\u308a\u3067\u3044\u304f\u3089\u304b\u306e\u30aa\u30fc\u30d1\u30fc\u30b7\u30e5\u30fc\u30c8\u304c\u3042\u308a\u3001\u5f90\u3005\u306b1\u306b\u53ce\u675f\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n

\u3053\u306e\u4f8b\u3067\u306f\u3001\u6700\u521dPID\u3092\u65e2\u5b9a\u5024\u3067\u98db\u3070\u3057\u305f\u3066\u5f97\u305f\u30c7\u30fc\u30bf\u304c\u53f3\u5074\u306e\u72b6\u614b\u3067\u3059\u3002\u8a66\u3057\u306bD\u3092\u5c11\u3057\u5897\u3084\u3057\u3066\u98db\u3070\u3057\u305f\u306e\u304c\u5de6\u5074\u3067\u3059\u3002\u5de6\u306f\u30b5\u30f3\u30d7\u30eb\u6570\u304c\u5c11\u306a\u304f\u3066\u30ae\u30af\u30b7\u30e3\u30af\u3057\u305f\u30b0\u30e9\u30d5\u3067\u3059\u304c\u3001\u30f4\u30a1\u30a4\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u3068\u307e\u3067\u306f\u8a00\u308f\u306a\u3044\u3067\u3059\u304c\u3001\u3069\u3046\u3082\u53f3\u3088\u308a\u53ce\u675f\u304c\u826f\u304f\u306a\u3044\u6c17\u304c\u3057\u307e\u3059\u3002\u3068\u3044\u3046\u3053\u3068\u3067D\u3092\u5897\u3084\u3057\u305f\u306e\u306f\u3042\u307e\u308a\u826f\u3044\u3053\u3068\u3067\u306f\u306a\u304b\u3063\u305f\u3088\u3046\u306b\u601d\u3048\u307e\u3059\u3002\u3082\u3068\u3082\u3068\u306e\u72b6\u614b\u306f\u60aa\u304f\u306f\u306a\u3044\u6c17\u304c\u3057\u307e\u3059\u3002\u5b9f\u9a13\u7684\u306b\u3082\u3046\u3061\u3087\u3063\u3068PID\u3092\u5909\u5316\u3055\u305b\u3066\u3001\u3053\u306e\u30b0\u30e9\u30d5\u304c\u5909\u308f\u308b\u304b\u3069\u3046\u304b\u3092\u898b\u3066\u307f\u305f\u3044\u3068\u601d\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n

[ PID Error Tool ]<\/strong>
\n\"\"<\/a>
\n\u3053\u308c\u306b\u3064\u3044\u3066\u306f\u8a9e\u3089\u308c\u308b\u307b\u3069\u306e\u77e5\u8b58\u304c\u3042\u308a\u307e\u305b\u3093\u3002\u304a\u305d\u3089\u304f\u306f\u5de6\u306e\u30b0\u30e9\u30d5\u3067\u5e45\u304c\u5c0f\u3055\u3044\u307b\u3046\u304c\u671b\u307e\u3057\u3044\u306e\u3067\u3057\u3087\u3046\u3002\u3053\u306e\u5834\u5408\u30012\u3064\u306e\u30ed\u30b0\u306b\u5927\u304d\u306a\u5dee\u306f\u306a\u3044\u3082\u306e\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n

[ PIDtoolbox\u3092\u4f7f\u3046\u306b\u81f3\u3063\u305f\u4e8b\u4f8b ]<\/strong>
\n\u3061\u3083\u3093\u3068\u98db\u3076\u306e\u3060\u3051\u308c\u3069\u30e2\u30fc\u30bf\u30fc\u304c\u52a0\u71b1\u3057\u3066\u3057\u307e\u3046\u6a5f\u4f53\u306e\u30ed\u30b0\u3092Blackbox Explorer\u8abf\u3079\u3066\u307f\u307e\u3057\u305f\u3002
\n\"\"<\/a>
\n\u30e2\u30fc\u30bf\u30fc\u306e\u30c8\u30ec\u30fc\u30b9\u304c\u5c0f\u523b\u307f\u306b\u632f\u52d5\u3057\u3066\u3044\u307e\u3059\u3002\u4ed6\u306e\u6a5f\u4f53\u3067\u306f\u3082\u3063\u3068\u306a\u3081\u3089\u304b\u306b\u5909\u5316\u3057\u3066\u3044\u307e\u3059\u3002Gyro\u306b\u6ce8\u76ee\u3059\u308b\u3068Pitch\u306e\u69d8\u5b50\u304c\u660e\u3089\u304b\u306b\u304a\u304b\u3057\u3044\u3067\u3059\u3002\u3053\u306e\u6642\u70b9\u3067\u306fPIDtoolbox\u3092\u4f7f\u3046\u524d\u3067\u3057\u305f\u3002\u5c71\u306e\u9593\u9694\u3092\u8abf\u3079\u3066\u307f\u308b\u3068\u3069\u3046\u308280Hz\u4ed8\u8fd1\u306e\u3088\u3046\u306b\u898b\u3048\u305f\u306e\u3067Static Notch Filter\u306770-90Hz\u3042\u305f\u308a\u3092\u6e1b\u8870\u3055\u305b\u3066\u307f\u307e\u3057\u305f\u3002
\n\"\"<\/a>
\n\u3053\u308c\u3067\u98db\u3070\u3057\u3066\u307f\u307e\u3057\u305f\u3002\u3057\u304b\u3057\u306a\u304c\u3089\u30ed\u30b0\u3092\u307f\u3066\u3082\u307b\u3068\u3093\u3069\u5909\u5316\u304c\u3042\u308a\u307e\u305b\u3093\u3002\u30d5\u30a3\u30eb\u30bf\u30fc\u304c\u601d\u3046\u3088\u3046\u306b\u52b9\u3044\u3066\u3044\u306a\u3044\u306e\u304b\u5468\u6ce2\u6570\u3092\u9593\u9055\u3063\u305f\u306e\u304b\u3001\u305d\u306e\u3042\u305f\u308a\u3092\u306f\u3063\u304d\u308a\u3055\u305b\u308b\u305f\u3081\u306bPIDtoolbox\u3092\u4f7f\u3063\u3066\u307f\u308b\u3053\u3068\u306b\u3057\u307e\u3057\u305f\u3002<\/p>\n

Gyro\u306e\u30d5\u30a3\u30eb\u30bf\u30fc\u524d\u306e\u30c7\u30fc\u30bf\u3092\u53d6\u5f97\u3059\u308b\u305f\u3081\u306bBlackbox\u306bGYRO_SCALED\u3092\u6307\u5b9a\u3057\u305f\u3002
\n\"\"<\/a><\/p>\n

\u305d\u308c\u3067\u53d6\u5f97\u3057\u305f\u30ed\u30b0\u306eSpectra Analyzer\u306e\u30b0\u30e9\u30d5\u3067\u3059\u3002
\n\"\"<\/a><\/p>\n

\u5de6\u306e2\u3064\u304c\u65e2\u5b9a\u5024\u306e\u30d5\u30a3\u30eb\u30bf\u30fc\u3001\u53f3\u5074\u304c80Hz\u3092\u4e2d\u5fc3\u3068\u3057\u305fstatic notch\u30d5\u30a3\u30eb\u30bf\u30fc\u3092\u5165\u308c\u305f\u30c7\u30fc\u30bf\u3067\u3059\u3002\u305d\u308c\u305e\u308c\u306eGyro\u3068Gyro prefilt\u3092\u8868\u793a\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n

– \u307e\u305a\u3073\u3063\u304f\u308a\u3057\u305f\u306e\u306f\u5468\u6ce2\u6570\u7684\u306b\u306f\u307e\u3093\u3079\u3093\u306a\u304f\u5206\u5e03\u3057\u3066\u3044\u308b\u3053\u3068\u3067\u3059\u3002\u6ce2\u5f62\u306b\u7279\u5fb4\u304c\u3042\u308b\u306e\u3067\u7279\u5b9a\u5468\u6ce2\u6570\u304c\u7279\u306b\u5f37\u3044\u306f\u305a\u3067\u3059\u304c\u3001\u3053\u306e\u30b0\u30e9\u30d5\u306b\u306f\u8868\u308c\u3066\u3044\u307e\u305b\u3093\u3002
\n– Gyro [B]\u3092\u898b\u308b\u306880Hz\u4ed8\u8fd1\u304c\u5207\u308a\u53d6\u3089\u308c\u3066\u3044\u308b\u306e\u3067static notch\u30d5\u30a3\u30eb\u30bf\u30fc\u306f\u78ba\u304b\u306b\u52b9\u3044\u3066\u3044\u307e\u3059\u3002
\n– Gyro prefilt\u3092\u898b\u308b\u3068\u5b9f\u306f300Hz\u3088\u308a\u4e0a\u306e\u5468\u6ce2\u6570\u306b\u30c7\u30fc\u30bf\u304c\u51fa\u3066\u3044\u308b\u3001\u3053\u308c\u3089\u306f\u52b9\u679c\u7684\u306b\u30d5\u30a3\u30eb\u30bf\u30fc\u7fa4\u3067\u53d6\u308a\u9664\u304b\u308c\u3066\u3044\u305f\u3068\u3044\u3046\u3053\u3068\u3092\u8a8d\u8b58\u3057\u307e\u3057\u305f\u3002300Hz\u304b\u3089500Hz\u306b\u304b\u3051\u3066\u306e\u30b9\u30da\u30af\u30c8\u30e9\u30e0\u304c\u53f3\u80a9\u4e0a\u304c\u308a\u306a\u306e\u306f\u30b9\u30ed\u30c3\u30c8\u30eb\u30dd\u30b8\u30b7\u30e7\u30f3\u306b\u8ffd\u5f93\u3057\u3066\u5909\u5316\u3057\u3066\u3044\u308b\u3001\u8a00\u3044\u63db\u3048\u308b\u3068\u30e2\u30fc\u30bf\u30fc\u306e\u56de\u8ee2\u6570\u306b\u5f71\u97ff\u3055\u308c\u305f\u3082\u306e\u3060\u3068\u63a8\u6e2c\u51fa\u6765\u307e\u3059\u3002<\/p>\n

\u305d\u308c\u306b\u3057\u3066\u3082\u3001Pitch\u306eGyro\u306e\u69d8\u5b50\u304c\u304a\u304b\u3057\u3044\u3068\u3044\u3046\u78ba\u8a8d\u306f\u51fa\u6765\u307e\u3057\u305f\u304c\u539f\u56e0\u3082\u5bfe\u7b56\u3082\u3088\u304f\u5206\u304b\u308a\u307e\u305b\u3093\u3002\u3053\u306eSpectral Analyzer\u3092\u898b\u308b\u3068\u98db\u3079\u3066\u3044\u308b\u306e\u304c\u4e0d\u601d\u8b70\u306b\u898b\u3048\u307e\u3059\u304c\u3001Blackbox Explorer\u3092\u898b\u308b\u3068\u5b9f\u969b\u306f\u6a5f\u4f53\u306e\u52d5\u304d\u306f\u53d6\u308c\u3066\u3044\u3066\u3001\u305d\u306e\u6ce2\u306b\u5c0f\u523b\u307f\u306b\u30ce\u30a4\u30ba\u304c\u4e57\u3063\u3066\u3044\u308b\u611f\u3058\u306b\u898b\u3048\u307e\u3059\u3002FC\u306e\u554f\u984c\u306b\u601d\u3048\u307e\u3059\u304c\u3001\u307e\u3060\u7d50\u8ad6\u306f\u51fa\u3066\u3044\u307e\u305b\u3093\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

\u3055\u3089\u306b\u6700\u65b0\u7248\u3067\u306f\u3044\u308d\u3044\u308d\u3068\u5909\u308f\u308a\u307e\u3057\u305f\u3002v0.62\u3067\u306e\u4f8b\u306fhttps:\/\/www.nkozawa.com\/blog\/archives\/7178\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\u3002 \u6700\u65b0\u7248\u5c0e\u5165\u3057\u305f\u3089\u968f\u5206\u3068\u753b\u9762\u304c\u5909\u308f\u3063\u3066\u3044\u307e\u3057\u305f\u3002\u5c0e\u5165\u306a\u3069\u306f\u3053\u306e […]<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"om_disable_all_campaigns":false,"_uf_show_specific_survey":0,"_uf_disable_surveys":false,"footnotes":""},"categories":[38],"tags":[],"class_list":["post-6218","post","type-post","status-publish","format-standard","hentry","category-quadcopter"],"aioseo_notices":[],"_links":{"self":[{"href":"http:\/\/www.nkozawa.com\/blog\/wp-json\/wp\/v2\/posts\/6218","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.nkozawa.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.nkozawa.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.nkozawa.com\/blog\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"http:\/\/www.nkozawa.com\/blog\/wp-json\/wp\/v2\/comments?post=6218"}],"version-history":[{"count":33,"href":"http:\/\/www.nkozawa.com\/blog\/wp-json\/wp\/v2\/posts\/6218\/revisions"}],"predecessor-version":[{"id":7202,"href":"http:\/\/www.nkozawa.com\/blog\/wp-json\/wp\/v2\/posts\/6218\/revisions\/7202"}],"wp:attachment":[{"href":"http:\/\/www.nkozawa.com\/blog\/wp-json\/wp\/v2\/media?parent=6218"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.nkozawa.com\/blog\/wp-json\/wp\/v2\/categories?post=6218"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.nkozawa.com\/blog\/wp-json\/wp\/v2\/tags?post=6218"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}