About my unusual oscillations;
I am sure part of my problems must be in soft antivibration mounting of Pixhawk and maybe landing gear..
Here is picture of it;
Description goes something like this;
On Orange latex foam(HK) http://www.hobbyking.com/hobbyking/store/__26457__Anti_Vibration_foam_Orange_Latex_190mm_x_140mm_x_6mm.html
i mounted TWO antivibration mounts(classic one with 4 SILICONE rubbers,as suggested in manual)
connected above to carbon plate on which Pixhawk lay on another orange foam ,squized from above in sandwich with top plate which is touching only thru PC hard disk silicon rubbers..
Also i have 15cm GPS mast..in fact i have two exactly bcs. of the problem Randy is suspicious ..and they are connected together in very solid construction...no wobble or any possibilities to twist.
After i inspect everything i notice that there is play in two above mentioned antivibration mounts bcs. they are not mentioned for all the weight i put on them,even on two ...and because of that the whole thing,pixhawk and gps mast can move in extreme fly conditions...
Also,bottom part of my craft consist of landing gear retracts with battery and camera mount holder...everything is connected with double Tarot 12mm tube antivibration mounts..
12mm (2mm wall)carbon tube is very stiff,but this mounts are not,rubber inside too soft.there is wobble there as well especially without gimbal...
Because of all mentioned above i decide to make everything much stiffer...
Wobbly Pixhawk mounts are squeezed all together,Pixhawk now can't move in any direction..when i hold and move GPS mast the whole Y6 move...there is no wobble anywhere...
Also i connected landing gear with two extra screw and put another plate in front to hold tubes making them more straight and less prone to craft movements...
I did repeat accel,compass,compass/mot calibration after all this...
ABOUT FLIGHT TODAY 27.09.16
Since my last flight on 16.09.16 i changed few things as Randy suggested
"...or the throttle oscillation could you try reducing the "Throttle Accel" gains a bit? The defaults are below and I think these values or even lower would be fine:
ACCELZ_P to 0.5_ <<<< 0.75 at end of flight i also try 0.6 and 1.2
ACCELZ_I to 1.0_ <<<< 1.5
I think it might also be good to reduce the Rate Roll P and Rate Pitch P and D values by 40% maybe. Perhaps these numbers will work (your PID values * 0.6)
ATCRAT_PIT_P = 0.155_ <<<< 0.236
ATCRAT_PIT_I = 0.155_ <<<< 0.236
ATCRAT_PIT_D = 0.0056_<<<< 0.0121
ATCRAT_RLL_P = 0.155_ <<<<0.2596
ATCRAT_RLL_I = 0.155_ <<<<0.2596
ATCRAT_RLL_D = 0.0056_<<< 0.0094
ATCRAT_YAW_P = 0.62_ <<<<1.0413
ATCRAT_YAW_I = 0.062 ....."_ <<<<0.1041
HERE IS DATAFLASH LOG: 27.09.16
I MADE MISTAKE BCS. MY MOT_THST_HOVER IS AT 0.41(AND I MADE THIS FLIGHT WITH THAT) BUT ACTUALLY IS 0.34...WILL TRY AGAIN WITH REAL VALUE...i know it is overpowered bcs it is ready for 2kg camera/gimbal weight..if i try next autotune i will add extra 2x10Ah LiPos (1.65kg),maybe that will allow me complete Autotune,all axes at once...
I noticed that my craft is flying much more calm kind of lagish..i am not sure if i like it,before was much more "crisp" and responsive(my rc feel is on 90%)...also motors are much cooler than before when they where hot,almost on the edge of acceptable....
Althold...normal flight is perfect,but fast forward..hmmm...
If you look thru my log pay attention that on my SECOND LOITER i pulled my retracts up to observe if propwash on them have some influence on flight characteristics..nothing visible i noticed..looks even better
Also during part of the flight(i think middle of log) i left Compass learn enabled...i am not sure if compass is calibrated any better after this...
Vibrations before(soft AP mount-16.09.16) and after(stiff AP mount-27.09.16)
Also oscillation in the vehicle's actual velocity is much better but throttle output from the altitude controller is again weird...
Is something wrong with my RC station throttle output?
I CAN ONLY THINK OF THIS;my Tarot retract landing gear is not connected thru Pixhawk or PPM but to one of free channel directly to receiver...landing gear is connected to same LiPo and ground..
CHECKED ITS NOT THAT
Two of them calibrated minimum 1028 instead 1024 like all others(max is 2020 on all) ..
Should i set all to same min value?
In Mission planer min-max is set to 1000-2000)
PPM centre throttle(in ESC BLHeli settings software) is at 1500 when actually mathematically middle is at around 1525..default BLHeli settings is 1488..but i don't use central throttle,is this important at all?
PLEASE TAKE A LOOK AT BLHELI SETTINGS IN ABOVE POST...
I didn't have enough time to test more..
Please make your observation...thank you