Ive been experiencing this 1hz yaw wag that ive never seen before. It stops once im moving the sticks. Ive lowered the pids and Disabled Weather Vane. Also tried Q_A_ANG_YAW_P 2 with no change. Im stuck. Its 4.7
Any suggestions where to look?
Could you please post the actual log?
A photo of the craft, to assess the design, would also help a lot.
Plane is a heewing t1 S a tri copter tilt rotor
The I-term is off the whole time.
When I built my T1 I didn’t get the tilt motor angle perfectly dialled in when did my first hover tests and I would also get this yaw oscillation. If it was good before but now it’s started, just double check nothing has moved, or that the motor on the tail hasn’t twisted from where it was when you tuned it.
Yeah i see that too. Its such a slow wag but annoying. Ill check all the mofor alignments.
I am 99% sure that the wag is because of this:
Q_A_RAT_YAW_FLTE = 5
FLTE is usually counterproductive for thrust-vectored yaw. Try again with a 0.
Source: personal experience with a single-copter, with exactly the same symptoms in yaw, that were gone forever once FLTE was disabled.
I hope so. Ill give it a try.
Yours right. Almost completely gone i dont know how i missed that. Now its just a matter of tuning the pids. Ive found autotune or qwiktune to never get the P toD balance right.