I’ve successfully maidened my 1st Wing Wing Z-84 running Ardupilot (Chibios, Matek F405-Wing) and I’m very very happy with it – super impressed with how locked in it feels. I’ve ran an autotune (at level 7) and increased roll and pitch limits to 60deg (parameters LIM_ROLL_CD and LIM_PITCH_MAX, _MIN).
I’m looking for some help with Roll rates (and less so with Pitch rates ) in FBWA mode – the plane feels a lot less snappy than I would like (well, when compared to my Eagle Tree Vector planes).
Current Roll PIDs at 0.678 / 0.065 / 0.054 and Pitch PIDs at 1.126 / 0.112 / 0.090.
Is the parameter that I need to change RLL2SRV_TCONST / PTCH2SRV_TCONST? It’s currently at 0.4s. Does STALL_PREVENTION affect this as well?
@hurzburg has suggested looking at the _RMAX parameters. Any further insights?