Hi, why is this Pitch desired offset from pitch? The Heli is trimmed in stab with no drift, when I switch to PosHold the heli drifts. The radio trims are set to zero.
This doesn’t sound right. If it is drifting in poshold then it must be due to the gps drifting.
What you have shown in your graph indicates that you don’t have enough ILMI or IMAX. If you have H_OPTIONS set to 1 then you will need to raise ILMI to 0.08. That should give the controller enough integrator buildup to be able make pitch rate follow pdes.
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Thank you Bill. I had ACT_RAT_PIT_IMAX set to zero I have it set to 0.4 (default) Will continue tuning from there.
Do you have H_OPTIONS set to zero or one?
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H_OPTIONS is set to one.