why have I had to add yaw PID gains that are much higher than I'd expected?
I would have expected that a quad hovering horizontally should require virtually 0 yaw compensation due to 2 cw and 2 acw blade putting out almost identical power. But actually the yaw PID gains are pretty much identical to those for pitch and roll - without them, my quad has a slowly accelerating yaw.
Blades are finely balanced, motors are same model, ESCs / frame are DJI F450, Batteries / Controller (Raspberry Pi) balanced on central chassis: with this, I simply can't see why she spins.
Any suggestion what on earth if making my quad need as much yaw compensation she does?
Replies
Andy, have a look here. Hope this helps.