I’ve rebuilt my Hexsoon TD-650 after a minor crash two years ago that broke a couple of arms.
This rebuilt copter is lighter - maybe 15% or so.
I flew it with the default PIDs - and while it was stable in hover, it was a bit shaky when control inputs were applied. I’m not sure it’s stable enough to autotune.
I decided to migrate back towards the PIDs the original version of this copter - in small steps - starting with 25% change towards the old values. If this shows improvement, I might then take another step to 50% change towards the old values.
The goal is to get good enough behavior to safely do an autotune.
I put the ATC parameters from the old tune and the default tune on a spreadsheet - with the new test PIDs calculated.
I’m wondering if anyone sees any “red flags” about this approach.
The original copter used the current firmware from 2 or 3 years ago. The default tune on this copter shows some new ATC_xxx parameters - all still at “0”. Are these new parameters used yet? I haven’t set up a notch filter or done an autotune yet - so I can’t really tell if they are used yet or not.
In the spreadsheet I’ve attached, the parameters I plan to change are highlighted in yellow. The new parameters are in red.
Thanks!
