Hello everyone, I need help understanding the settings of some PID controller parameters.
I am trying to set up a copter on the following hardware:
Motor - T-motor U12 kv100
Prop 30 inches
ESC T-motor flame 80A
Today I performed a test flight, I set the PID setting to manual.
In free hovering, the log file shows small oscillations. Could they be due to high ATC_ANG_xxx_P values?
With an increase in ATC_RAT_xxx_Pand ATC_RAT_xxx_D, the oscillations increase.
Is there a dependence of the ATC_ANG_xxx_P parameters on the prope ller diameter?
I see that there are increased vibrations along the X axis, I think that there may be a slight imbalance of the propellers.
Based on the flight results, I selected the following harmonic filter:
