Replies to This Discussion

Permalink Reply by Tomas Soedergren on February 22, 2012 at 9:50am

Did you recalibrate on RC tab in MP? Recalibrated ESC? Did you only change Tx or Rx too?

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Permalink Reply by Thomas Kramm on February 22, 2012 at 10:04am

I switched from Spectrum DX6i + AR6210 to Graupner MX-20 + GR-24.

Recalibrated in MP, Recalibrated ESCs, switched back to DX6i recalibrated this one. Nothing changed.

I guess its some little stupid mistake I'm just to blind to see...

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Permalink Reply by Rui Manuel Cravo Marques on February 22, 2012 at 10:43am

Hi Thomas, have you checked on MP "raw sensor" view and then "radio" if your stick movements are giving correct output to motors ? Also have you checked your radio is in ACRO mode without any mixing active ?

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DeveloperPermalink Reply by Marco Robustini on February 22, 2012 at 10:51am

Hi Rui, i use "heli" program for better throttle curve setup... of course, with "H1" swap-plate and no mix enable.

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Permalink Reply by Rui Manuel Cravo Marques on February 22, 2012 at 10:41am

Can any of you PID gurus :) tell me what param may causing a sort of "rocking chair" effect ? If I lean the quad to any side and then return to neutral, I get sort of a decaying sin wave oscillations of about 3 or 4 times (ex : 45º -> stick to neutral -> -10º -> 5º -> finally leveled) I tryied different values on rate P but didn't seem to make any difference (from 0.09 to 0.150).

Also there are some params that we don't generally touch on the left side (params list) named LOITER_LAT_P, LOITER_LAT_I, LOITER_LAT_D, ... what are these ? When we tune Loiter in the boxes, that changes the HLD params (I think meaning HOLD), so what are the LOITER params for ?

Thank you. 

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DeveloperPermalink Reply by Adam Rivera on February 22, 2012 at 10:50am

A slow oscillation is generally caused by a stab p value that is too high.

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DeveloperPermalink Reply by R_Lefebvre on February 22, 2012 at 10:58am

Could also be Iterm?  I always zero out I-term when hunting oscillations.  Get it out of the way, then focus on the P if the oscillation still occurs.  If the Iterm at zero stops the oscillation, then you know it was the cause, and you can work on I term.

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DeveloperPermalink Reply by Adam Rivera on February 22, 2012 at 11:07am

Good point Robert. It definitely could be the I gain as well. That should be zero (same with D gain) in order to find the optimal P gain.

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Permalink Reply by Rui Manuel Cravo Marques on February 22, 2012 at 11:41am

Thank you, I will try to zero I terms first, and see how it goes. One thing I notices is that this version is much more "forgiving" than 2.2. I had strong oscillations and out of control with rate P above 0.09 and with this one I already took it to 0.15, however, to fine tune it it's a lot more stressfull since there are new params multiplying the possible choices. The use of ch6 was a bless especially now I don't have a laptop and not using radio telem for the moment. Control is a try and error science especially with our completelly different configurations. :)

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Permalink Reply by Johann Van Niekerk on February 22, 2012 at 11:47am

MMM guys 2.4.1 in the MP for download ? any one know what has changed ?

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DeveloperPermalink Reply by Adam Rivera on February 22, 2012 at 11:54am

It is a bug fix for an issue that one of the other users encountered. The bug was that a print command to the serial port was causing a delay which in turn caused an issue with the APMs ability to measure the current roll/pitch information. It would have happened when switching modes (loiter to stabilize) under certain conditions.

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Permalink Reply by Johann Van Niekerk on February 22, 2012 at 11:56am

okay cool , thank for the info Adam.

 

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