maybe you want to take a look to my adventure with big Y6
http://discuss.ardupilot.org/t/heavy-y6-adventure-thru-3-4-rc-with-autotune/11488?u=emin_bu
Me too was going thru same procedure,not knowing is it BLHeli settings,Pix settings or something else making problem.
I’ve tried many different settings…so,to summarize what i learned…do things in this order…
-
CHECK YOUR PARAMETERS…
some translations of PID from previous software version didnt go well in my case -
About ESC
BLHeli should be set very conservative(check my settings and others advice)…
check multiple times if settings on all is same
Also for tuning first try if everything works without OneShot or OneShot125 on…
Do RC calibration before ESC calibration
Calibrate ESC…be sure you calibrate them properly…musical tones on BLHeli are different… -
About AUTOTUNE
At first i try FILT at 20Hz…honestly i don’t know if i saw the difference at 10Hz latter on…
Also even Wiki say AT will adjust that parameter,that does not happen…
On the other hand,i wonder why FILT DID changed in YAW ATune to some different number??
Aggressiveness i had at 0.9 and now at 0.8…hm…i also got high PIDs as results,but somehow i like higher and than lower it for some 15% and also play with RCFeel…if nothing is shaking why not use higher PIDs?i am still tuning…
For me it was good idea to make multiple AT of same axes…
Do one ax at time unless you have big Lipos…it takes time,especially if it’s windy…you will be very sorry to end AT at 85% without seeing results(i didn’t find the way to extract that data from logs without finished it)…also do fresh set of Lipo for every ax,compensation on…
Also try to do AT with weight you will carry in flights afterwards…use something else for dummy weight instead of gimbal which will shake to much in process…and also be broken if somethings go wrong.
@FreeBirdFlight
i did exactly same thing believing i will observe better what motors and ESC do and how they accelerate/stop
…have to say that brings all kinds of problems as i learned later on bcs. i forgot to change it to default and i could not get proper tune…motors was spinning wird…
here is what Leonard answered;
MOT_THST_EXPO. This is similar to what you are used to seeing with stick expo but designed to linearise the thrust of the esc/motor/prop to the pwm input. The effect of this is the output to the esc’s increase quickly at low ranges and slowly in the high ranges. So on an over powered copter the hover throttle will look very low. This is something you need to set based on thrust measurements but I have found 0.65 is a good number for most copters including all coax setups and 0.75 is good for very large props on quad hex and octo air frames.