I recently completed a build of a Y6 multicopter and it seems to be very sensitive to PITCH, but seems fine for ROLL and YAW. First off, I’m wondering if this is a common problem with Y6/Tri configurations, since pitch is controlled by a single arm?
Here is a video of its maiden flight - all of the sudden jerks are a result of me pitching forward or backward: http://www.youtube.com/watch?v=N6JPXl4gzyI
I’ve already done some PID tuning to get it to this point, and even unlocked the pitch/roll values from one another to allow a lower RATE_PITCH_P, but it doesn’t seem to have much effect on flight control.
My current PID values are:
STABILIZE_PITCH_P = 6.00
RATE_PITCH_P = .0500
RATE_PITCH_I = .0005
RATE_PITCH_D = .0025
STABILIZE_ROLL_P = 4.50
RATE_ROLL_P = .0700
RATE_ROLL_I = .0010
RATE_ROLL_D = .0025
Can anyone suggest if PID modifications are needed to allow for smoother pitch control? Am I on the right track, or is this a symptom of some other problem with the multicopter’s construction itself?
Here are some specs of the build:
UAP2 Y6 650mm frame / 880kV motors / 11"x4.7 props
30A SimonK ESCs / 3S2P 5000mAh batteries
Ardupilot APM 2.6 w/ external GPS + compass
Many thanks to anyone who can help with this!