Hello drone whisperers,
I can not get the RATE oscillations to clean up from my current drone.
I’ll lower rates per instructions until the thing just can’t fly anymore and just flips over and breaks all the props.
Then I’ll go back and start cleaning it up again. The cursed thing just won’t fly right.
I’m obviously missing something.
Latest Log below.
If you look at ROut and POut you’ll see what’s up.
Thank you so much for your time.
LOG 1
Xaidin
You increased the D-terms and the Pitch/Roll P&I terms are misconfigured.
Try 0.002 for D and 0.06 for P&I (equal) on pitch and roll. Hover thrust looks like 0.14 so reset the vertical acceleration controller gains based on that.
Way too much enabled for notch filtering.
Disable the 2nd notch.
Select only the 1st harmonic and disable triple notch.
But, you will have to re-check these after the output oscillation is gone.
Thank you Dave.
I did what you said, tried it, no change.
Dropped PIDs 50%, same thing. New Log below.
Here’s a video of it, and a pic, it’s nothing special. Just a normal quad 10".
Thank you for all your help!!
That’s not what I see.
Where did this come from?
ATC_ANG_RLL_P,20.26291 (Pitch is at default)
The rate Pitch/Roll P&I are at 0.03
The vertical acceleration controllers gains are way off.
Start over. Reset all to default, then do the Initial Tune Parameters and then follow one of these Tuning Guides:
Tuning Process Instructions
Methodic Configurator
I didn’t understand your instructions, and when I looked it up, obviously got it wrong.
You’re right, I’ll just nuke the whole thing and start over.
Thank you for your time.
X
For anyone who finds this in the future, the problem turned out to be:
PSC_ACCZ_P
