Today i tested the Cheerson CX-OF sensor in the field.
Loiter and Stabalize work flawless
There is a oscillation (whobble) while hovering in flowhold mode.
It disappears when flying low (<3 ft) or at higher speeds and is very noticable hovering at 5 - 20 ft altitude.
When taking a look at the logfiles, i can see an oscillation
Looking at the times where GPS.Speed is around 0
and then look at any Flow or accelerometer oscillations
How to finetune this oscillation. Is there a PID mechanism for flowhold?
Frame is 25" spinning 1155 props on 3S LIoN (hence the low voltages at high current)
For others having the same issue;
FHLD_XY_I to 0,2
FHLD_XY_P to 0,1
Try adjusting these params… Maybe it solves your issues to
have you looke at the original blog ?
What I described above as a strange behavior:
… when I switch from Loiter to FlowHold I see the Copter oscillate quickly in roll and pitch (like if the Roll / Pitch PID was bad tuned), then if I move the quad a little bit around (with RC) the oscillation disappear and the Copter remain stable.
should be a normal behavior from what I read in the
Because no Lidar is used in this mode, the optical flow sensor is used both to estimate the vehicle’s height above the surface and the vehicl…
Hello. Did you got some other better values for these parameters? I’m facing this problem too. Reducing the ?_FILT_HZ to 2 solved partially, because the displacements are higher, i.o.w., the drone position varies a bit more.