I used the default PID values and PARAMs as provided in this GitHub repository, but the aircraft oscillates immediately after transitioning to FF.
https://youtu.be/oF1E5zEN5BM?t=190 – this is the same issue I am facing.
This is my flight attempt, FPV recording (skip to 1min)
attached log:
Any inferences? What I can do to fix this?
(the files are too big, so I couldn’t directly upload here. Apologies.)
Thank you.
You should parameterize the speed parameters more correctly according to your VTOL before the next fixed-wing transition: You are flying at about 20-25 m/s in FBWA , but have overlooked to adjust AIRSPEED_CRUISE with 12 m/s much too low and below AIRSPEED_MIN (17 m/s) . More important is SCALING_SPEED, which is also too low at 15 m/s and probably triggers the rocking. You should set it to your planned cruising speed and fly an autotune with it. You should also think about which throttle setting you need to maintain the cruising speed and enter this value in TRIM_THROTTLE.
Rolf
Hi, thank you for the reply
This is OP’s friend, working on the same project.
Could you please go further into these params?
Just an FYI, We’re not using an airspeed sensor. It isn’t windy where we fly, and the GPS Speed is close to actual airspeed.
Could you please clarify on the TRIM_THROTTLE and what it does?