Hello to all, i configure one heavy drone and i just need your opinion about how it work, i cannot provide logfile but i attach charts from roll and pitch, please feel free to comment ,i think setup is really good but i got some oscillations at middle and i try to cut them so i think i must tune I is that correct?
It’s not bad but it could be better. I would do the following:
Update the firmware to latest Stable.
Make sure EKF3 is enabled (it’s running 2 now).
Configure the Dynamic Notch Filter.
Re-run Auto Tune. I’m assuming you ran it already based on the PID values saved.
Hello to all after a lot of tuning I finally get a good result but my system wobble at forward speed at speed 11 m.s and above, so experts your opinion please about
that i inquiry logfile.
I don’t think the tuning is that good. A lot of noise on the Rate outputs in Pitch and the RC outputs are oscillating also. 1st update to latest Stable firmware and make sure EK3 is enabled. You are on old firmware with EK2. Then get back to tuning.
Yeah i know about Z vibration and it is something I will fix, what are you mean rc outputs are oscillating also I can see a small oscillation at rc1 but the other 3 look ok.
First of all I am here to ask the experts so please don’t tell me good luck it is suppose it is a community here and everyone helps eatch other second how I can kill the oscillating and last one can you explain to me rate output or give me a link.
Yes, depends which D param you are talking about, but it can affect lots of things.
Generally a high D term will cause very small fast oscillations that will not be visible to the naked eye, but you can hear it in a “mechanical” motor noise, feel it in high motor temperatures, and see it in logs.
For example it would be typical for ATC_RAT D terms to be in the range of 1/10th to 1/20th of ATC_RAT P and I terms.
1/16th of P and I is a good starting point if you have nothing else to work from.
This is not a rule though, as always there’s exceptions - just my observation of many peoples logs over the last couple of years.
If you are getting big (visible) oscillations that is probably not due to a D term.
Post a link to a .bin log.