How to tune the altitude loop? about simscapefopd

[cnpcshangbo]

So try to tune it using my code from FOPD tunner.
By using this project:
https://github.com/cnpcshangbo/FOPD-tunner
I am able to get the optimal IOPID parameters.
C =

         1          

Kp + Ki * --- + Kd * s
s

with Kp = 8.55, Ki = 8.79, Kd = 1.85

Continuous-time PID controller in parallel form.

info =

struct:

            Stable: 1
CrossoverFrequency: 7.1642
       PhaseMargin: 83.8783

[cnpcshangbo]

Then I am going to update those PID parameters in the simulator.
ZPos altitude loop PID continuous Kp = 8.55, Ki = 8.79, Kd = 1.85, Kb=1, ITAE=0.99

However, the velocity loop has the oscillation.

I have created a new issue for this: #8