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Permalink Reply by Don Cramer on June 26, 2011 at 8:20pm

Just out of curisity, have you adjusted your yaw PID's? Raising mine to high causes the quad to loose rudder and yaw around about 180 degrees or so with a little forward flight.

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Permalink Reply by Mike Walker on June 26, 2011 at 8:59pm

I have not made any changes to any PID's, but what you describe sounds like a possibility. I did not move the quad forward much at the park, but here in the driveway I was moving across the road when it rotated.
Here are my PID's (I hope these are the same from version 2.0.24)
Stabilize:
roll:
P: 0.54, I:0.03, D:0.12, IMAX:50
pitch:
P: 0.54, I:0.03, D:0.12, IMAX:50
yaw:
P: 0.40, I:0.00, D:0.08, IMAX:100

Don how fast did yours rotate?

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Permalink Reply by Don Cramer on June 26, 2011 at 9:05pm

See my post: http://diydrones.com/forum/topics/yaw-and-loiter-issues-2028 There is a video of what it does. It's because my PID's are to high (so i am assuming, it only takes a small bit of forward flight to get it going) but it sounds like what yours is doing. It does this on mine when (STABILIZE_YAW) P = 0.8 and D = 0.16 (double the default). I now am running P = 0.6 and D = 0.12 and it has went away but my yaw is still slower than i like.

 

I am waiting for my xbee's so i can easily tune this thing.

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Permalink Reply by Mike Walker on July 6, 2011 at 10:11am

Does anyone know,

Is there a chance that this is related to the "Return to Land" when the battery hits a specific battery level? 

Does anyone know what the voltage trigger level is?

I have been flying with an unknown C rated battery since the beginning (7 months now) It has been cycled at least 100 times. It's a GWS 2200mAh flat rectangular pack. Each time this did occur I was forcing the quad in a forward motion that would require the 2 motors in the back to draw more amps in turn lowering the voltage, if the battery could not keep up with the discharge rate.
I just got some new 2200mAh 30C batteries in so I will give them a whirl.

 

Thanks again for all the comments...

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