So, I finally got out tuning this and it’s promising.
Before that, I found that I hadn’t managed to zero out the P on pitch, hence the weird VFF. Once P was zero, then VFF=0.15 looked like a good rate.
First flight, with zeroed PIDs and VFF on 0.15 was actually easier than I thought. Wind was fairly swirly and while the heli was moving around a lot, it was still fairly predictable.
I then tried to download the log via the telemetry (I didn’t bring USB cable with me), but it kept timing out, so I skipped checking the rates. It felt ‘reasonable’ at 0.15.
However, this attempt also seemingly corrupted the log file and it didn’t record any of my subsequent tuning.
Started out with RLL_D. Started at 0.001, got oscillations at 0.006, so ended up with 0.003.
PIT_D was a lot more stable and I got oscillations at 0.012 and ended up with 0.006. Note,those oscillations were not very strong and fairly low frequency.
Repeated the process for RLL_P and PIT_P and got 0.045 on Roll, and 0.09 on Pitch.
Set I to my VFF at 0.15, did final AHRS trimming (as it was now very stable!) and it was hands off hovering.
Vibes are still higher in in Y with the VTX blades, but lower than before.
Loiter looked at little nervous, I saw some high frequency oscillations on the first one (not logged :/) and still looks like it on the second flight. Compass complained again and I re-calibrated and it seemed better.
I also need to re-tune the tail, but overall, this looks very promising and is an easy method to follow. Not sure if I’ll have time to fly again tomorrow.
I still need alot of compensation from the tail rotor.
10 degrees in the hover roll and 0.13 (~8 degrees) in the AHRS trim.
Seems a bit extreme?
This the first flight with PID 0, VFF 0.15.
Last flight, where I test loiter. Hovers hands off in stabilize.
All in all, it took me about 45 mins, progressing very safely. D was done in steps of 0.001, P was in in steps of 0.02.