Add a link to the blog post

ArduPilot · Nov 30, 2023 · 40d8af7 · 40d8af7
1 parent cc379ed
commit 40d8af7
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/copter/source/docs/systemid-mode-operation.rst b/copter/source/docs/systemid-mode-operation.rst
@@ -403,6 +403,14 @@ Yaw:
 :name: fig-val-doublet-yaw
 
 
+How to optimize the PIDs once a vehicle model is available
+----------------------------------------------------------
+
+In the sections above an analytical mathematical model of a multicopter was derived and validated.
+That model can be used to optimize ArduCopter's PID parameters.
+One example of such an optimization process is shown in :ref:`this ArduPilot blog post<https://discuss.ardupilot.org/t/analitical-multicopter-flight-controller-pid-optimization/109759>`.
+
+
 .. rubric:: References
 .. [#f1] Teodor Tomic: "Model-Based Control of Flying Robots for Robust Interaction under Wind Influence", Hannover: Gottfried Wilhelm Leibniz Universität Hannover, 2018.
 .. [#f2] Gabriele Perozzi et al.: "Trajectory Tracking for a quadrotor under wind perturbations: sliding mode control with state-dependent gains", 2018.