the suggested parameters are for 3.6, actual release candidate is RC12.
So I assume I should go for this release (3.6.0 rc12) rather than using 3.5.7-stable?
if I stick to 3.5.7 stable, a lot of the listed parameters above are not available.
so i would still end up in the question: which starting point for the parameters…
Yes, use the 3.6-rc12 and the new parameters. You will get better results “out of the box” than with 3.5.7
Copter 3.6 is almost to stable release, and it is stable from the heli end. Just some minor things still going in for multicopters and minor fixes for the greater copter code at this point still going into the release candidates before stable release.
There is so much improvements for heli in 3.6 that it’s hard to recommend 3.5.7 anymore.
Succesfull first flights. for 3rd one I did a video. Sorry for the bad quality but I had no camera support team
Stabilize, AltitudeHold, Loiter tested.
I still need to tune YAW, and ROLL+Pitch
But overall it is very nice. fells very different but I think it is a good starting point.
yaw behaves delayed. the turn rate is ok (no 3d sport machine anymore - and I did not expect that) but everything feels delayed for yaw. takes some time till it starts and even more till yaw turn ends after stick is back to neutral.
roll / Pitch feels good, for now.
altitude is not so good. I saw descending behavior in flightmode loiter while decelerating.
Regarding servos: there was no hint in the “manual” or videos from @ChrisOlson to change something for the head servos (SERVOX_MIN /MAX values)
but I was wondering why my tail servo was not working, but also got some help here.
I don’t have any collisions with my head setup. everything runs smooth so far…
My original params for 3.6 setup had the yaw a lot “hotter” than it is now. The vote was to detune the yaw a bit to fit more servos “out of the box”, so I detuned them some in the current params. It is the one thing that will usually have to be set to user preference.
The settings to look at are:
ATC_ACCEL_x
ATC_RATE_x
In the above, for roll, pitch and yaw, they are set by default to provide scale-type handling. You can increase these, both acceleration and rate, to 3D type handling if you want.
In the PID library for yaw is:
ATC_RAT_YAW_P, D and VFF.
The VFF is the feedforward and can be increased to improve response, P and D are the damping settings - if you want more damping increase the P and D. If it starts tail-wagging or oscillating the tail servo then the D is too high. I run 'em up to .007-.009 on D and usually around .32 on P and .12 on VFF. That will liven the tail right up. And then you can set the ATC_RATE_Y_MAX from 180 degrees/sec to 720 deg/sec if you want to do 3D type piros.
First item: I still got oscillations on yaw during high speed and stop maneuvers.
I tested in loiter mode, because I could easily accelerate the helicopter to certain speed.
started with
1
1
ATC_RAT_YAW_P
0.270000010728836060
9
1
1
ATC_RAT_YAW_VFF
0.109999999403953552
9
ended with:
1
1
ATC_RAT_YAW_P
0.209999993443489075
9
1
1
ATC_RAT_YAW_VFF
0.150000005960464478
9
Yaw was now good.
But there came an additional issue, when reaching certain speed, helicopter startet to oscillate in pitch.