create a pid controller for a drone in python

To create a PID controller for a drone, you can follow these steps:

1. Import necessary libraries for controlling the drone. Depending on the drone platform you are using, you may need different libraries. For example, if you are using the DJI Tello drone, you can use the tellopy library.

2. Define the PID controller with the following parameters: proportional gain (kp), integral gain (ki), derivative gain (kd), and target (set-point). You can choose these parameters experimentally or using mathematical techniques.

main.py
class PID:
    def __init__(self, kp, ki, kd, target):
        self.kp = kp
        self.ki = ki
        self.kd = kd
        self.target = target
        self.error = 0
        self.integral = 0
        self.derivative = 0

    def update(self, current_value):
        previous_error = self.error
        self.error = self.target - current_value
        self.integral += self.error
        self.derivative = self.error - previous_error
        output = self.kp*self.error + self.ki*self.integral + self.kd*self.derivative
        return output
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3. Read the drone's current state, such as altitude or position, and use the PID controller to compute the desired command output, such as throttle or angular velocity.

main.py
pid = PID(kp=1.0, ki=0.0, kd=0.0, target=desired_altitude)

while True:
    current_altitude = drone.get_altitude()
    output = pid.update(current_altitude)
    drone.set_throttle(output)
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4. Continuously update the drone's command with the desired output using the drone's API.

Note that the above code is just a basic example and may not work directly with your specific drone platform. You may need to modify the code to fit your drone's API and required commands.