Flight-Log-Based Performance Analysis of a PID Controller for Pitch Response in a Quadcopter UAV

Lalu Aan Sasaka Akbar; Romie Oktovianus Bura; Dwi  Mandaris; Ahmad  Sahid; Ani  Widuri

doi:10.55927/ijar.v5i4.16442

Authors

Lalu Aan Sasaka Akbar Faculty of Engineering and Technology, Defense, The Republic of Indonesia Defense University
Romie Oktovianus Bura Faculty of Engineering and Technology, Defense, The Republic of Indonesia Defense University
Dwi Mandaris National Research and Innovation Agency (BRIN)
Ahmad Sahid National Research and Innovation Agency (BRIN)
Ani Widuri Faculty of Engineering and Technology, Defense, The Republic of Indonesia Defense University

DOI:

https://doi.org/10.55927/ijar.v5i4.16442

Keywords:

Quadcopter UAV, PID Controller, Pitch Response, Flight Log, Attitude Stability

Abstract

This study analyzes the performance of an initial PID controller in the pitch channel of a quadcopter UAV using an empirical flight log exported from UAV Log Viewer. The aim is to evaluate pitch stability and command-following response by comparing desired pitch, current pitch, and North-East position data recorded during a 89.96s valid segment (2649 samples), analyzed through time-history inspection and error metrics. The method applies qualitative-quantitative log analysis with error metrics, time-history inspection, and trajectory interpretation. The results show weak pitch tracking: desired pitch varied from -1.34° to 4.14°, while measured pitch remained narrow at -0.73° to -0.50°; The log yielded MAE was 1.65°, RMSE was 2.04°, IAE = 148.46 degrees, and pitch correlation = 0.03.°. The findings imply that the initial gains are safe for data collection, but inadequate for responsive pitch control and require retuning.

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