As noted below and read the Wiki on the Dynamic Notch Filter.
Hello, I have done some test flights I have also balanced the propellers this time. I am attaching the logs and visuals links below. It was windy. Pls, share your thoughts whether it looks fine now. the motor difference is still around 50 but i was able to pretty stable hold.
Logs
https://drive.google.com/drive/folders/14GwXIIV_dJ9xv_39zzUCtiDhMBXmUXG7?usp=sharing
video
https://drive.google.com/file/d/1GU6dYwILi2MltEYAPEsc6tPqPbqTh39J/view?usp=sharing
https://drive.google.com/file/d/1GRP2DdcGVVG0v6A2vDRCEk29Ap8C1evV/view?usp=sharing
Should i perform a pitch only autotune then? Or anything else.
Yes, I think so. I would copy the roll PID’s to Pitch before doing so because what you have now for Pitch is pretty unusual. These don’t look right.
ATC_ACCEL_P_MAX,25000
ATC_ANG_PIT_P,1.75 (Roll is at 9.25)
Roll and Pitch Angle P are very different:
ATC_ANG_RLL_P,9.25
ATC_ANG_PIT_P,1.75
Try making ATC_ANG_PIT,9 (or approach 9 in steps, like 5 then 7)
Also you Rate PIDs are very low, you could try taking them up in two stages and see how it goes
ATC_RAT_RLL_P,0.05
ATC_RAT_RLL_I,0.05
ATC_RAT_RLL_D,0.003
ATC_RAT_PIT_P,0.05
ATC_RAT_PIT_I,0.05
ATC_RAT_PIT_D,0.003
ATC_RAT_RLL_P,0.10
ATC_RAT_RLL_I,0.10
ATC_RAT_RLL_D,0.0035
ATC_RAT_PIT_P,0.10
ATC_RAT_PIT_I,0.10
ATC_RAT_PIT_D,0.0035
These manual steps will save a lot of airtime in Autotune
What issue these setting were causing?
Roll and Pitch Angle P are very different:
ATC_ANG_RLL_P,9.25
ATC_ANG_PIT_P,1.75
I intentionally want to make the copter saddle and slow as it has to carry weight is the approach correct.
Those rate PIDs I got after auto-tuning. What further improvement they can deliver if I increase them?
Tune for the lightest take off weight and then reduce these for the increased payload as per the tuning guide:
- ATC_ACCEL_P_MAX x (min_TOW / max_TOW)
- ATC_ACCEL_R_MAX x (min_TOW / max_TOW)
- ATC_ACCEL_Y_MAX x (min_TOW / max_TOW)
I have set those according to this.
@xfacta @dkemxr I have done 2 test flight with changed parameters i am attaching the video and log file below.
LOGS
https://drive.google.com/drive/folders/13-SStMiDLRa2McnvQecPyMzXcChQ6JnY?usp=sharing
VIDEO
for the first log
https://drive.google.com/file/d/1Gdm6-b32q2G_fjK190D1_2gWJ3z_7wxV/view?usp=sharing
second one
https://drive.google.com/drive/folders/13-SStMiDLRa2McnvQecPyMzXcChQ6JnY?usp=sharing
All looks good to me. I would stick with the Angle pitch/roll P terms both at 9.25. Pitch and roll are very locked in. Good work. I don’t see any reason to run another Auto Tune, fly it.
Yeah - looks good!
There is still a difference between clockwise and counter-clockwise motors, indicating twisted motor mounts or the frame is twisting. This will limit your yaw control.
Also please set these:
BATT_FS_LOW_ACT,2
BATT_FS_CRT_ACT,1
@dkemxr should i now set the INS_LOG_BAT_MASK to 0 and what about the vibration compensation should keep it disabled. ?
Yes, now that you are done with Notch Filter configuration that can be disabled to keep the log file sizes reasonable on long flights. The Dev’s have said to keep Vibration Compensation enabled and address the basic Vibe problem which you have done so yes re-enable it.
I want to specify one thing what value i should input for MAX_BAT_VOLT_MAX and MAX_BAT_VOLT_MIN till now i have used 16.8 for the max and 12.8 for the minimum voltage. should I go according to the recommended value of 4.4 or 4.2 volts per cell and if i go with the 4.4 the battery monitor is showing 17.2 volts per in HUD panel should then recalibrate the monitor reading as it was set according to the older value of 16.8 volts in MAX_BAT_VOLT_MAX.
Definitely re-calibrate the voltage monitor using a proper multi-meter.
If I understand your question. These parameters have nothing to do with the power module calibration. They are for thrust scaling. But of course for them to work correctly the Power module has to be properly calibrated.
the power module is showing the correct voltage my question was on what basis you fill the MAX_BAT_VOLT_MAX and MAX_BAT_VOLT_MIN is this has to be specific to my battery type or we enter 4.4v(it was written recommended) per cell instead of 4.2v per cell on purpose?
Per cell multipliers.
