I was using PSC_VELXY_MAX in 4.5.7 for speeds of 45ms IAS along with some other heavy weather optimized parameters. But it’s not visible anymore.
I need to achive 20ms GS in heavy weathers with gusts of up to 25ms. I’ve set WPNAV_SPEED and ATC_ACCEL_X_MAX along with some aggressive ATC and MOT params to try and achive the same.
Frame is using 4116 motors on 6S with 16 and 17 inch props depending on conditions. Frame is well balanced and aerodynamic.
Any expert advice on heavy weather parameters would be welcome indeed.
Thanks for the report. We haven’t made too many changes to the attitude or position controllers in 4.6 (vs 4.5) and AP 4.5 also doesn’t have a PSC_VELXY_MAX parameter but both have PSC_VELXY_IMAX.
I don’t have much specific advice on handling very gusty conditions except that it might be good to reduce some of the PSC_xxx gains so that the vehicle doesn’t try too hard to maintain a near perfect position when that’s not really going to be possible. This is just a guess though
Thank you so much for your answer. I’m waiting for the next heavy weather to test again.
I was able to achive remarkable results in the most aweful weather in Reykjanes - Iceland with these parameters here (I meant to attach with the original post).
The drone was able to hover @ 150m alt and appeared static as if it was CGI rather than an actual drone hovering in the sky. I could hardly see it twitch in the gusts. The average windspeed was around 15ms at ground level with extreme gusts. Going well over 20ms average up at altitude.
I hadn’t then set up AP to measure wind speed and I’m only in the process of adding this capability now. I’m pretty confident that I’ll very soon have a pretty well oiled all-weather machine that’s well flight tested.