Yes, the biggest drone we ever built is a 1.88m wheelbase drone, so in a small country with limited flying space, is too fast.
Seem like from the reply and MP GUI, besides break delay, I should keep the rest to the default value and only bring down the speed and break delay.
Is the outermost position control loop referring to the PSC_n parameters in the image below? MP GUI only exposes these few PSC values, PSC_POSXY_P, ATC_INPUT_TC, PSC_VELXY_D, PSC_VELXY_I, PSC_VELXY_P, PSC_VELXY_IMAX.
In most of our previous drone configurations before this tuning guide, we keep PSC_n to the default values, except PSC_ACCZ_I to 2 x MOT_THST_HOVER, PSC_ACCZ_P to MOT_THST_HOVER.
How common and rare do users need to change these PSC_n parameters? If after autotune, under Loiter flight mode, the drone twitch during mid stick, do we change these PSC_n values? If not, what should we do next? What other possible causes? Will a wrong set of Loiter parameters configuration cause the drone to twitch? The seasoned pilot feels the autotune parameters are okay under alt-hold flight mode for the 23-inch quad 1.2m wheelbase drone.
PSC_ACCZ_D
PSC_ACCZ_FF
PSC_ACCZ_FLTD
PSC_ACCZ_FLTE
PSC_ACCZ_FLTT
PSC_ACCZ_I # 2 x MOT_THST_HOVER
PSC_ACCZ_IMAX
PSC_ACCZ_P # MOT_THST_HOVER
PSC_ACCZ_SMAX
PSC_ANGLE_MAX
PSC_JERK_XY
PSC_JERK_Z
PSC_POSXY_P
PSC_POSZ_P
PSC_VELXY_D
PSC_VELXY_FF
PSC_VELXY_FLTD
PSC_VELXY_FLTE
PSC_VELXY_I
PSC_VELXY_IMAX
PSC_VELXY_P
PSC_VELZ_D
PSC_VELZ_FF
PSC_VELZ_FLTD
PSC_VELZ_FLTE
PSC_VELZ_I
PSC_VELZ_IMAX
PSC_VELZ_P
we shall try these below values with the rest of the PSC values keep to the default except PSC_ACCZ_I and PSC_ACCZ_P. I hope is not due to Limit Cycle Detection issue, currently, all n_SMAX are zero. no other PSC values are mentioned in diatone_taycan_mxc.zip suggested to change.
LOIT_BRK_ACCEL,500
LOIT_BRK_DELAY,0.05
LOIT_BRK_JERK,4000
LOIT_SPEED,250
PSC_VELXY_FF,0.85