![]() ![]() ![]() Log - 03-09-2023 first flight evening with changes of params.bin - Google DriveĢnd flight we did with prams which was saved 3 days back on 1st sept where there were no oscillation and then we took off did autotune in low wind landed and did a flight for log for your reference and advise We did change the prams as mentioned above by you observed major oscillation We added 4kgs payload instead of 3kgs and didn’t play around with mot thst hover learn pram. ATC_ANG_PIT_P,15.47112 -> 14.0Īnd also reduce the Autotune aggressiveness a bit in case you run autotune again, but dont go below this. And slightly reduce the Yaw P and I so it is not interfering in pitch and roll, at least for now.Īlso Pitch D term is very high in proportion to pitch P, which could even be causing hot motors.Īnd conversely, Roll D term is very low in proportion to roll P term. I would tend to bring the pitch and roll PIDs a bit closer to each other, decreasing pitch values slightly, and increasing roll values. However pitch attitude control is a lot better than roll. Pitch D term is over-active, sometimes quite a lot with disturbances like wind. It might have affected the autotune result too. This is affecting your hover and altitude. Or add some payload and allow hover thrust to learn and save as it normally would. So you will have to manually set hover throttle MOT_HOVER_LEARN,0 This is a designed-in limitation of the hover throttle learning feature, so it doesnt go too low. Hover throttle is not learning and saving below 0.125 yet it needs to be about 0.12 in this flight. ![]()
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