Hello, @dkemxr and @xfacta hope you guys doing well in this past few months I was working on a new vibration mount that isolates the FC from the stack like configuration it has reduced the vibrations a lot i am attaching the logs below after auto-tuning all three axis at once i have slight round off the values which makes the copter little unsteady pls review give some suggestions and I need some help setting up the harmonic notch.
The tune from Auto Tune is not good. For some reason it tuned the Pitch PID’s very low. And in any case you would want to configure the Notch Filter BEFORE doing Auto Tune so you have to do it again anyway. So, I would reset the PID’s to default and re-enter the Initial Tuning parameters (Alt>A plug-in) and set the notch parameters as follows:
INS_HNTCH_ENABLE,1 (then refresh parameters)
INS_HNTCH_ATT,40
INS_HNTCH_BW,48
INS_HNTCH_FREQ,96
INS_HNTCH_HMNCS,3
INS_HNTCH_MODE,1
INS_HNTCH_REF,.200
INS_LOG_BAT_OPT,2
Then you should make another short Hover flight to check how well the Notch filter is working and if good then run Auto Tune.
A log of the Auto Tune session is of little value for determining the final result. You should have reset the PID’s to default before running it but do it your way. Make another flight with some aggressive Pitch/Roll and Yaw moves so you can determine if the tune is good. Look at Roll/Desired Roll and Pitch/Desired pitch and see if they match up fairly well. Then just fly it.
Hello I have done a test flight with the new PIDs Yaw axis seems very aggressive and the copter feels very light while flying and it weights around 1.7kgs how make it steadier to fly? should decrease the RC input_tc and in loiter mode it correcting alti around 20-40cm before getting a good hold.
It doesn’t look too bad. You can try lowering ACRO_YAW_P to 3 and increasing ATC_INPUT_TC. Is there a payload on this craft? This thread is too long to search and find out… I’m wondering why it’s tuning Pitch and roll so differently. Not that it’s necessarily a problem just curious.
Actually that was a quad which i was working on earlier and that turned out pretty well. This is a hexcopter on which i have implemented the new mount for vibration damping. I have not attached any payload to this copter till now. I will share images soon. I am wondering we add payload to this will not notch characteristic chages ?
To keep this topice related i have not opened a new thread.
dose logs from the last test flight look good? I am thinking of doing one more combined auto-tune before manually adjusting the values and do you recommend changing these value as the procedure mentioned in the guide?
@dkemxr Reducing the ACRO YAW doesn’t make too much difference other than that the copter seems fine but when yawing I can feel oscillations and the smart RTL got activated what could be the reason? Should i set the spin minimum to 0.2?
What could be the reason for the higher motor imbalance than the last flight?
Ok i will try manually tune the PIDs i want know dose reducing these value make want kind of difference dose acceleration on each axis become slower and what relation they have with the PIDs ?
[ATC_ACCEL_P_MAX]
[ATC_ACCEL_R_MAX]
[ATC_ACCEL_Y_MAX]
One think i faced recently after landing the copter the light on the safety switch went off and it become normL after restarting why this happened?
@dkemxr@xfacta The Yaw finally seems stable i have slight reduce the PID gains for the yaw axis by 0.05 and the oscillations are less but I faced a new problem in two flight when I am landing in loiter mode the copter won’t disarm I need to switch to alt mode to disarm the copter.
can u guys brief me more on IMUmismatch? what causes it and dose it mean their miss-match in gyro and acc reading or between 2 separate IMUs.
@dkemxr@xfacta I have started manual tunning and the copter is performing pretty well from my perspective but i am still facing the issue of motors not stopping in loiter mode after landing and i need to switch altd mode to disarm can pls verify this log so i can continue with the manual tuning.