Hi all,
I am have difficulty figuring out how to get our aircraft to be more responsive and accelerate faster vertically upward in AltHold and Loiter. The aircraft has plenty of power (over a 3:1 power ratio). In stabilize mode the aircraft is responsive and accelerates quickly (as expected).
In AltHold and Loiter no matter what gains/parameter I change it always seems to feel like there is a 0.5s delay in the vertical climb (I realize there is actually no delay, it just due to slow desired acceleration)
I have tried playing and setting all these gains very high with no luck:
PILOT_ACCEL_Z = 3000
PSC_POSZ_P = 3
PSC_VELZ_P = 8
PSC_ACCZ_P = 1.25
PSC_ACCZ_I = 2.5
PSC_ACCZ_IMAX = 800
The most obvious parameter that I would think would affect this is PILOT_ACCEL_Z. As you can see in this test I set it very high (3000). This is the only parameter that seems to really make a difference, but the strange thing I am noticing is once I set this any higher than roughly 300 there seems to be no change and when I look at the Desired Vertical velocity curve, it also shows that the aircraft doesn’t seem to accelerate any faster once I go higher than 300. Any ideas? Not matter what I set PILOT_ACCEL_Z or no matter how high I set the gains, the aircraft will not vertically accelerate faster than 3.0m/s/s on the dot. Is this something hard coded or is there some other parameter that is limiting this to 3.0m/s/s?
Log: https://www.dropbox.com/s/wlwc72brlqr4j2e/00000325.BIN?dl=1