I have done it to the best of my abilities. @xfacta You have helped me in the past. Do you think this is ok, or do it still needs some work.
I also have a question about PIDA Tar and Actual. They seem way off. Same with PIDE. Whats the best way to tune it. It also seems PID needs more work.
There is a significant difference in output between motors, this is causing a wide spread of noise which tricks you into selecting unnecessary harmonics
The problem is caused by motor mount twist or frame twist, so work on getting all the props spinning in the same plane.
Adjust these notch filter settings, they’ll still work OK now and will do even better when the motor outputs are more even.
INS_HNTCH_FREQ,30
INS_HNTCH_BW,7
INS_HNTCH_HMNC,1
The frequency and bandwidth set here need to be low, and the ESC RPM will scale these UP as required. The notch filter wont go below the values you set.
You dont need all the other harmonics, the noise is not getting past the Gyro low pass filter, only that first harmonic needs treatment.
For some reason it seems when I change the bluejay settings I get better results on the motor output being more even. Biggest difference is between motor 2 and 4 without props its less than 100 rpm
I had to increase the minimum startup power, i liked the gentle windup, but it seemed to somehow mess with it.
also decreased motor timing from 22.5 to 15
You wont be able to simulate the issue, the motor outputs are different while in flight because one or two motor mounts (CCW motors 2 and 1 in your case) are misaligned causing a physical yaw bias. This means two motors (CW 3 and 4) have to work harder to counteract that.
If it was a weight imbalance motors next to each other (like 1 and 3) would have higher output, which is not the case here.
Even if ESCs have slightly different RPM on the bench, or at arming, they should all equal out and do about the same RPM during hover - otherwise that would indicate the motors or props are different
Allright, makes sense. This log here is now a flight in no-wind-conditions. With the new hntch values applied. Can you also explain why the attitude graph is so noisy? I dont see this clean line like i have seen before. If i compare pitch target and pitch actual, i see a lot “noise” on the target graph
Log can be found here - Unique Download Link | WeTransfer
How does this balance seem like?
If i understand this correctl - is the roll oscillating?
