after installing the new Pixhawk 6c mini, and flip the rotation of the main blades to CCW
the values in the Rate and and the ATT are now way off, and this is may explain why I see "yaw imbalance of 40% " in my screen!
after pulling the logs all the values are not accebtable.. ATT yaw overshoot,
the ROLL also overshoot, and the PITCH too!
same witht he Rate as its not tracking P R & I
do I need to re-tune the PID from 0 ?
or I can jump into auto-tune and that will take care of everything for me?
In your other post you said you went from 300 to 0 on the roll trim. You might need to move that negative to offset the different blade direction.
Your tail rotor is also sitting around 975, but the SERVO4_TRIM is 900. That’s probably loading up the I-term so you’re getting the errors. Try adjusting the trim value to ~975 and see what that does.
Enter the roll angle value in the ATC_HOVR_ROL_TRM parameter in centidegrees. For a CW turning main rotor if it took 3.5 degrees of right roll to compensate, enter 350. Negative values are for a CCW turning main rotor that requires left roll to compensate.
Hi,
I changed the value to -300 (I had to force the parameter as its not allowing for negative values, the min is 0)
the heli was stable with very minimum drifting to the right.
but the error still there
(yaw imbalance 40% )
is there anything I am missing? before I change the rotation of the motor and to acheive CCW main rotor, this start to showing up.
is there any parameter I must change if I change the motor rotation?
Thank you
Ozzy
These servos are narrow band servos so they have 760us at natural position and 360us to 1160us
so the natural trim will be at 760,
I have set it to 760 and min at 450 and max at 950
but the same problem exist! ;( frustrated.. Got to know what is going on here!
I am thinking about the Motor direction reverse.. But I have no clue what to do!
anyone with an idea why this happening will be much appreciate it
I think the yaw imbalance is tied to the trim. Look in the log where the servo is sitting for a stable hover and adjust it accordingly. That’s why I was suggesting 975 from the first log.
In the log look at the servo output to the tail rotor. If you have the tail servo on channel 4 it will be RCOU.C4. Try to get the average when you are in a hover. It doesn’t have to be a perfect mathematical average, so don’t get too lost in the details over 1 or 2 PWM.
I tried to understand the way the servo trim working by looking to the old logs before I switched the rotation of the motor, main rotor and the tail rotor.
so here like you see in the pic the servo trim was at 760
I had no problem before, but now even with the same setting I have this issue!
so I am thinking maybe its related to the Motor CCW/CW change.
are you sure I don’t have to change any parameters when I change the motor rotation and the main/tail rotors?
Thank you
Hi
I have increased ATC_RAT_xxx_FF 3.9 and no hope!
the Ydes and the Y is still not maatching,
I will increase the ATC_RAT_YAW_I from 0.12 to 1.8
and try it out.
