I have a T-Drones M690 with Cube, that I had to manually tune, as the Autotune does not work at all on it (I tried 3 times, and always ended badly). It is flying ok now, but there is an aggressive oscillation when I stop it fast (releasing the stick). Does someone know how to correct that?
Hi @Eduardo_Mendes
vibration in x and y axis are high with clipping, it will affect IMU and EKF measurement and copter could not brake good or keep altitude
Thank you @andyp1per and @hosein_gh !
I made two flights with ATTITUDE_FAST logging and INS_LOG_BAT_MASK = 1. First flight was shorter and smooth, with Alt_Hold, and the second of a few minutes, faster flight.
The logs files:
You have the FC in LOITER and then you give a HUGE roll input and go screaming sideways and then you let off the stick and now your complaining that the FC can’t stop the quad fast enough?
Guess what? It don’t work like that. Ever hear of inertia?
Well you need to switch on PID logging to truly tell
RATE will give you some indication - you want to see the different axes tracking well the desired values and you want to see as little oscillation in the OUT values (i.e. below 0.1 or 10%)
I configured the harmonic notch, and the FFT looks better, but the oscillation on the flight even looks worse. Is there anything else to do, other than starting tuning manually again?
So try increasing D to see if you can eliminate that. If not reduce your PIDs by 25% say and see how that looks. Without autotune its going to be trial and error - although you may find with the gyro noise gone that autotune now works
I tried again autotune, and it gave very poor results. The roll was close the what I had, but the pitch was very different, and let the drone uncontrollable.
Here is the PIDs:
I’m working on tuning the same frame. For whatever reason it is quite tricky indeed. Would love to know what PIDs did the T-Drones sent you, would you mind sharing?
So far what I can tell is that the ESCs seem a little suspect with this frame. I’m not sure how did it work for you, but in my case it doesn’t seem to support anything but PWM and the OneShot protocol( not OneShot125).