I have a slight issue on my Heli, on the ground the I term for yaw keeps on accumulating. There is a small error between yaw and desyaw (>1 deg, due to the rotation of the main rotor)
H_OPTIONS is set to 1 for now, on the log below we started at ILMI = 0 and IMAX = 0.5 and ended up ILMI = 0.001 and IMAX = 0.15. We plan to move to
No flight, nothing on this log, just motor spool up and some collective movement in Stabilize.
In flight, yaw PIDs are perfectly fine, we have a steady tail.
Now the issue is that the landed state goes to 0 at around 20% of collective, Heli on the ground and nothing apart from FC is on.
I take off around 40% of collective (depending on the altitude and temperature of where if fly but usually around 40%)
Any idea on how to change a bit the parameters for the landed state? I am thinking about adding a range finder value as a condition.