Hello,
I attempted to tune a quadcopter with the following configuration:
System Details:
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Motor-to-motor distance: 875 mm
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Motors: T-Motor 320KV Anti-Gravity
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ESC: T-Motor Flame 60A
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Battery: GenX 6S 30Ah
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All-Up Weight (AUW): ~8 kgs
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Propeller: 22×6.6 T-Motor propeller
After completing the setup and calibration process, I applied the initial tuning parameters from the Mission Planner setup page.
With the default PID parameters, I performed a test flight.
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In Stabilize mode, the drone flew without any oscillations.
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However, in Alt-Hold mode, oscillations were observed after providing Full stick input.
I then applied a notch filter and proceeded with AutoTune, which resulted in the following PID values:
Pitch:
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P: 0.152
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I: 0.152
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D: 0.008
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Angle P: 8.5
Roll:
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P: 0.152
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I: 0.152
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D: 0.008
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Angle P: 8.3
After AutoTune, I conducted another test flight:
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In Stabilize mode, the drone flew normally.
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In Alt-Hold mode, even with mild stick input, the drone began to oscillate aggressively.
I then reverted to the default parameters and attempted tuning using the Lua-based Quick Tune script.
The following rate parameters were obtained:
Pitch:
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P: 0.3303724
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I: 0.3303724
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D: 0.01451355
Roll:
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P: 0.3203593
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I: 0.3203593
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D: 0.0141737
After Quick Tune, I performed another test flight:
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In Stabilize mode, the drone flew well.
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However, in Alt-Hold mode, oscillations were again observed after giving full stick input.
Question:
How should I proceed with the tuning process from here? I would appreciate guidance on the next steps to continue tuning and resolve the oscillation observed in Alt-Hold mode.
PFA: Flight Log and Video
