Hi I am trying to autotune my new hexacopter based on U7-420 motors with 18" propellers. It’s classic flat hexa based on 2x6s batteries and Cube Black. I did manual tuning:
with this parameters and that’s flight log flying with this manual parameters. Generally the copter is too sluggish with this parameters. I think it can fly much more responsive.
I tried autotune with 0,08 aggressive but after this the copter was totally not flyable it was so sluggish that I didn’t have control over hexacopter. It was reacting for sticks veeeeery sloooow. This are parameters after autotune.That’s a flight log from autotuning.
My manual parameters which are not perfect are:
Cube black is mounted on rubber screws (vibration isolation) which I tested with other octocopter builds and autotune worked on this rubber isolation.
Vibration on all axes are under 40
MOT_THS_EXPO is 0,7
Frame is quite stiff carbon and aluminium
I am using T-Motors 80A Flame escs which were autotuned in my other multirotor builds
Copter is not overloaded
I calculated some of my parameters in this spreadsheet which I found on this forum
What should be my next step to do successful autotune ?