Replies to This Discussion

Permalink Reply by John Campen on June 24, 2012 at 5:13am

try Changing stab I to 0.002 to 0.015  range. I also have 3.800 on P and that with the 0.02 works well. You may even try P 3.400?

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Permalink Reply by Mario on June 24, 2012 at 10:29am

Thanks John, in attachment you can see my PID settings.

I'm little bit confused.

Do I change the Stabilize I from 0.1 (stock value) to a value in the range 0.002 to 0.015? In other words, i need to reduce the Stanbilize value of one order of magnitude?

Thanks,

Mario

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Permalink Reply by John Campen on June 24, 2012 at 4:57pm

Mario  On my hex I have Stab Roll/Pitch  P 3.800 and I 0.002 and this is quit stable and solid. I think for many the Stab I 0.100 default is to high and they are recommending setting this at I 0.00   I see some are using Stab I 0.015.  This is why I suggested try a rang between 0.002 to 0.015 range and see if that helps. Sorry my error before was not right I 0.02 where I meant I 0.002

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Permalink Reply by Rui Manuel Cravo Marques on June 24, 2012 at 5:18am

Hi Mario, I have motors like that on my quad and they are very good and reliable, however, they are 930kv wich may lead to propeller stall with those 12x6. You should try 12x3.8. Also try to lower even further your STAB P to 3.5 and STAB D of 0.12 not touching the RATE P for now, just to see how it handles, also, put in a RATE D of 0.002. Wait for someone else's opinion also to see if it checks. 

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Permalink Reply by Mario on June 24, 2012 at 10:39am

Thanks Manuel,
as you can see in the above image (my PID settings) the stabilize pitch D is zero and I've tried also stabilize pitch, roll =3.5 but the results is almost the same.
Do you suggest to increse the stabilize pitch D to 0.12 and reduce the rate pitch D to 0.002?

For the propeller, I made a bench test also with the 12x3.8 but I noted that the 12x6 develop greater thrust and higher efficiency.

Thanks,

Mario

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Permalink Reply by Mario on June 28, 2012 at 4:09am

I tested yesterday with the following PID value:
Stabilize P=3.4
Stabilize_pitch_D=0.12
Stabilize_I=0.002
Rate_roll/Pitch left unchanged.

Now it flies very well, only a little bit nervous, I'll add little expo on the Pitch-roll.

Many thanks,

Mario

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Permalink Reply by Rui Manuel Cravo Marques on June 28, 2012 at 5:39am

Sorry, didn't received an email with your previous answer don't know why. The 12x6 may have better performance, but only at higher RPM, and they may be stalled for most of the time, since in hover you don't need too high RPM, getting your bird unstable, the 12x3.8 may have less efficiency but give you a more stable platform and also more smooth reactions since the volume of air bitten in each rotation is a lot less, so they will be more accurate :) Glad to see you're flying ok now, you may also want to try your RATE D at 0.001 and RATE I at 0.010 just to see if it responds better.

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Permalink Reply by wilson javier madrid sossa on June 24, 2012 at 7:42am

the red LED on my apm 1 not lit and the entire flight was so late. try to return home and not work. why not lit the red light? has passed several times

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Permalink Reply by Norman Sanchez on June 25, 2012 at 7:58am

hello wilson, it often happens that the mini cable has bad connection, and the red LED not turn on. when it takes to give the sequence led to the beginning and only the yellow LED lights, it may be because of this. move the cable off and test apm.
if it is connected directly to the apm. the GPS has to connect without the mini cable.

hola wilson, suele suceder que el mini cable tiene mala coneccion , y el led rojo no encendia. cuando se tarda en dar la secuencia de led en el inicio y solo enciende el led amarillo, puede ser debido a esto. mueve el cable con el apm apagado y prueba.
si no trata de conectarlo directo al apm. el gps tiene para conectarlo sin el mini cable.

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Permalink Reply by wilson javier madrid sossa on June 25, 2012 at 7:44pm

gracias norman

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Permalink Reply by Vincent Mees on June 24, 2012 at 1:47pm

I did a test with 2.6 on my APM 2.

STAB great as ever, even indoors ;-)

But when I switch to Alt Hold, the quad descends each time hitting the ground.

I'm sure each time I switch I'm in stable hover.

When in AH and give a little bit of thust it stays at the desired altitude.

So I think my stab hover level doenst correspond to the hover level in AH.

Is this something to do within the code?

 

In previous version the APM seemed to rise in AH to about three meters before stopping. Now its the contrary.

   

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Permalink Reply by Peter Chaffe on June 24, 2012 at 2:39pm

Vincent, Yes the problem is within the code of 2.6 but only affecting some airframe set-ups.

I've been trying to eradicate it by tuning but that hasn't worked.

Latest attempt was to reduce min throttle in config.h from:

# define MINIMUM_THROTTLE    200      (as in ver 2.6)

to

# define MINIMUM_THROTTLE    130      (as in ver 2.55)

The result was it won't arm now!

Got a feeling it's to do with modified code (as well as) max/min defs.

Has Anybody got any idea what to alter in 2.6 to get 2.55 throttle range back and working?

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