What do you think? I tuned the pids to the best of my abilty. Is it to aggressive for a vtol?
Motors came down cool. I changed the yaw and pitch pids from my last log
Roll looks better than pitch with less overshoot.
This looks good:
This isn’t bad and you don’t expect as much Pitch Authority with a Tri. You could try increasing the Rate Pitch P&I values a bit more.
Do you think just replacing the rear motor with a 3214 860kv would be enough thrust. That motor has double the thrust my current motor produces. Or should i just do all 3 with that motor. Its 4700g thrust vs 2300g my current set up. At full throttle. The real battery i want to use is 300g heavier than what ive been using during logging. 9000mah 6s2p 890g is what im logging with. My other batt is 16,000 mah 6s4p 1.2kg Both li-ion. AUW With 16ah is 3060G
Its just unsettling seeing how much the plane can pitch going backwards. I did increase the Qloiter speed. It took to long to bring the plane back to me. Did that cause the increase pitch angle during max stick pitch deflection?
Check out that beautiful yaw authority. Feedforward of the tilt servos was the key. I keep hitting the throttle up when yawning
Wow, that looks solid!
What causes a error horizontal position variance. I get during fixed wing flying. I wait till my hdop is under 1. Usually .7 it eventually ends up at .49 with 30 satellites. It should be in my last log.
You are not logging GPS. But you may have too many Sat constellations selected. More is not necessarily better. Try setting the GPS_GNSS_MODE,67 (GPS and GLONASS)
Ok ill try that. I have what the gps data sheet suggest and is capable of doing. I think i have 4 selected. Ill reduce it and see if it stops that annoying message
Is it possible i have the motor mounted to far back? I can move it about a inch forward. Would that help the thurst imbalance? Causing the rear to not hit full throttle? Ill have to retune probably. The front motors are closer to the cg. I thought they would do most of the lifting and the rear just keeps everything level.
Interesting thought. Perhaps it would. You would loose some Pitch Authority I suppose.
Funny comment-My wife saw the Paypal email from Rocio Perez and asked who is that. We have a friend from Chihuahua named Rocio so it caught her attention. I explained the situation 
My aunt was born in chihuahua. Shes 52 i believe. She lives in el paso but lived in Nj for 10 years. It would be a small world if its the same person. I changed the rear motor location. Im going to retune and log.
My wife was born in Hermosillo. Her friend lives here in Michigan now.
What does yawD tune durong autotune? Im going to try a autotune. Inhave to add it to my firmware. It was taken out the heewing fx-405 firmware after 4.4.2. Dont know why
Tunes the Yaw Derivative rate controller. Not sure how well that will work on a VTOL.
You can try Auto Tune but Quick Tune is genrally better for VTOL. But, you can’t run a script so can’t do it.
1 Like
Have you tried this process?
https://ardupilot.org/plane/docs/tilt-vectored-yaw-tuning.html
A bit more iterative, but without the access to the quicktune script it might be the best answer for yaw.
Now that you have the Notch Filter configured disable Full Rate Notch in the logging bitmask.
Yes i did it. Took a while but it worked. Using the uav web tool didnt work until i logged gps. My feedforward was off. It ended up at .31 then everything else easily tuned with the transmitter. Now the tilt servos move quickly and smooth with yaw. Would qautotune do anything? Especially now that the ff moves the tilt servos.