First Flight of 40kg Octa-Quad – Need Help With Erratic Behavior

ArduCopter Copter 4.5
, , ,
21

Okay, Im following the procedure

22

Ok but you need to check as mentioned by @amilcarlucas

23

Hello @amilcarlucas

I have followed the procedure step by step; Now I am stuck on step 16 in which I need custom PID to start flying for this vehicle. In the link provided, there is only written that

If you have a very small, or a very large vehicle that requires non-default PID values for a safe flight. Usually, smaller vehicles require lower than default PID rate values. Larger vehicles usually require higher than default PID rate values.

Repeat the steps from Section 6.1.1 to edit and upload the 16_pid_adjustment.param file

Now I am not sure how to calculate the PID values for this copter. Please help me.
Thanks

24

There you need experience. Either you have experience, or you hire someone experienced to do that for you.

Can you post the configuration directory created by the software in a .zip file for me to take a look?
Do you have a good pilot, with fast reaction time?

1 Like
25

Try these as a starting point:

ATC_ANG_PIT_P,6.0
ATC_ANG_RLL_P,6.0
ATC_INPUT_TC,0.20
ATC_RAT_PIT_D,0.006
ATC_RAT_PIT_I,0.12
ATC_RAT_PIT_P,0.12
ATC_RAT_PIT_SMAX,50
ATC_RAT_RLL_D,0.006
ATC_RAT_RLL_I,0.12
ATC_RAT_RLL_P,0.12
ATC_RAT_RLL_SMAX,50
ATC_RAT_YAW_SMAX,50
INS_HNTCH_ENABLE,1
INS_HNTCH_MODE,1
INS_HNTCH_REF,0.35
INS_HNTCH_FREQ,30
INS_HNTCH_BW,10
INS_HNTCH_FM_RAT,0.7
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,4
1 Like
26

Most of those parameters should be added to the step 16. Some others belong to other steps.

1 Like
27

Hello @amilcarlucas,

I have completed the first 15 steps outlined in the documentation. I’ve also prepared a configuration file OctaQuad Configuration.zip and plan to add the following parameters suggested by @xfacta:

ATC_ANG_PIT_P,6.0
ATC_ANG_RLL_P,6.0
ATC_INPUT_TC,0.20
ATC_RAT_PIT_D,0.006
ATC_RAT_PIT_I,0.12
ATC_RAT_PIT_P,0.12
ATC_RAT_PIT_SMAX,50
ATC_RAT_RLL_D,0.006
ATC_RAT_RLL_I,0.12
ATC_RAT_RLL_P,0.12
ATC_RAT_RLL_SMAX,50
ATC_RAT_YAW_SMAX,50
INS_HNTCH_ENABLE,1
INS_HNTCH_MODE,1
INS_HNTCH_REF,0.35
INS_HNTCH_FREQ,30
INS_HNTCH_BW,10
INS_HNTCH_FM_RAT,0.7
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,4

Would you please review my current configuration and these proposed parameters? I’m seeking guidance on the next steps to ensure the drone is properly tuned and ready for flight testing.

Thank you for your help, and I look forward to any suggestions or feedback you may have!

28

Do I have your permission to add your files as a new template in the GPL3 licensed software?

29

Yes you can add this

30

Could you explain why this value? In what units is SMAX expressed?

31

That parameter change should be done in file 07.
AFAIK those have no units. But on file 07 you can find the relevant documentation for it.

32

Hi @amilcarlucas

Have you seen the file? Is it good to go. Please let me know if anything is wrong.

Thank You

33

First, please add the parameter changes the @xfacta mentioned to the files I mentioned.

1 Like