PID Tuning after notch filtering

ArduCopter Copter 4.6
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1

Hi

until now, I have only done notch filter configuration and ensured that vibrations were fine.

Prop size - 9.4 inch
Motors: 920kv
Version - Copter 4.6.3

Now, I wanted to do the PID Tuning of the copter, but not using autotune because of crash risks and lack of enough open area.

In the latest log, I am unable to identify an issue - it looks like it overshooting sometimes, or having some error and stabilizing there, and I am just not able to understand how to proceed.

Flight log: https://drive.google.com/file/d/1Ws3ArE2BeF7bGxDANXUqmjVEzXkLXOG8/view?usp=sharing

Thanks

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2

You can proceed by doing quicktune. Just do not make it indoors and do not make it under perfect windstill.

3

Or just manual tune if you struggle getting QuickTune to run on that less than capable Flight Controller. If you install V4.7.0-beta1 it will give you 2 channels for Transmitter Based Tuning which is an efficient way to do it.

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4

Hi
Thanks for your suggestions

Quicktune won’t run on this infamous pixhawk 2.4.8.

In manual tuning, I am using normal logs for analysis and then adjust pids. The tx channels are not free and I am not comfortable having such control as I would probably try to experiment and go a little further and come back with a crash.

And I also have no idea how a well tuned drone feels like so I am just trying to match the desired angles and actual angle and the rate.

I am not able to understand if my p is fine or it needs reduction. It looks the d is also little high.

Would be grateful if you could see the log file and tell me how good the tracking is (probably poor) and in what direction the tuning needs to be done

5

You don’t have 1 RC channel available and a pot or slider to use on the Transmitter, even temporarily, for tuning purposes?

One bit of advice. If you make a Rate P change set I equal to it. Unlike what your log shows keep them equal.

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6

Dave i didn’t know 4.7 beta gave 2 channels for manual tuning. This is a great feature.

If I read the documentation I’m sure it would have told me.

7

Yea, it’s been in the Dev version for a while. Configuring Rate P on 1 pot and Rate D on another, assuming you have 2 pots or sliders, is a quick way to move thru a manual Tune for example. You could use switch(s) in a pinch for 2 or 3 values.

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