Last week I upgraded my hexa frame with new motors, blades and battery to enhance flight time, together with arducopter from 3.3rc8 to rc10;
Tarot hexa 680 pro
multistar 2216-800Kv motors with 12x4.5 carbon blades
15.2ah 4s lipo ( 10 + 5.2ah )
3.8Kg full weight
Quanum mt 3508-700Kv with 13x5.5 carbon blades
20Ah 4s multistar lipo ( 10+10 )
4.1K full weight
Due to the new setup I need to reconfigure the PIDs. For that, my first attempt was to call autotune, taking off with the old PID letting the routine do its job.
The resulting PIDs seems to be very responsive, however bouncing a little bit on the roll axis. Since the hexa now is a little overpowered ( hovering with 420 throttle ), I ended up decreasing 10% the Stabilize P , Rate P/I gains to solve it.
The day that I run autotune was a little bit windy ( 5/10 km/h gusts ), so I’ve decided to try it again. Now the roll stabilize P has halved its value and even so the copter was still bouncing a little bit on the roll axis.
So I decided to give another try, but this time resetting pixhawk to fac. default values.
Comparing the results i couldn’t find an explanation for the noticeable difference among the values. I got the very same wobble on the roll axis. This wobble only stops if I decrease the values by 10% .
What has called my attention was the difference between roll and pitch values between autotune sessions. Nothing was changed on the frame between the tests.
Stabilize P : 13.775
Rate P/I: 0.2298
Rate D: 0.009265
Stabilize P : 8.247
Rate P/I: 0.20475
Rate D: 0.013966
Stabilize P : 5.4
Rate P/I: 0.234
Rate D: 0.0104
Stabilize P/ : 10.8
Rate P/I: :0.3114
Rate D: 0.144
3rd autotune ( after resetting to factory default ) :
Stabilize P : 13.71
Rate P/I: 0.2683
Rate D: 0.0111
Stabilize P/ : 11.28
Rate P/I: :0.2958
Rate D: 0.109
Could anyone clarify to me if it is needed to reset arducopter to the default PIDs prior to run autotune?
Does anyone have an idea of why the values for roll axis are so different between autotune sessions , specially stabilize P ?
Which values should I decrease to avoid wobble ? Only stabilize p or all the values like I did?
Here are the logs for the autotune sessions: drive.google.com/folderview?id= … sp=sharing
It is important to say that the frame is well balanced, however the weight distribution is a little bit different on x and y axis.
I’m willing to help and test whatever needed.