Replies to This Discussion

Permalink Reply by Scott Quartochi on August 20, 2010 at 6:08pm

you should be good

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Permalink Reply by Scott Quartochi on August 9, 2010 at 4:24am

Jerry, when it first happen it did not have a chance to rotate. It just shot up in the air.

Thank you all for your help,,,,, :)

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Permalink Reply by Kevin Vertucio on August 9, 2010 at 5:21am

Great to see you've gotten it up in the air! How's your frame holding up to the crashes?

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Permalink Reply by Jerry Chapman on August 9, 2010 at 5:46am

Scott, I wondered the same thing. I couldn't tell from your picture if the quad had some protection over the electronics when it flips onto its lid.

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Permalink Reply by Scott Quartochi on August 10, 2010 at 6:10am

Well the frame is sturdy to a point, and then the center assembly will bend slightly. It’s easy to fix and takes some of the force of a hard landing or hopping.

The flip scared me because I have nothing protecting the electronics right now. But all is fine. I am going to fit a dome from a PTZ security camera over the electronics. I hope that does the job.

It was very hard to keep it at a steady altitude, either it was shooting up or falling slow. I guess I will get the hang of it soon.

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Permalink Reply by Kevin Vertucio on August 10, 2010 at 7:30am

I had those types of issues a few weeks ago. It wouldn't hold altitude very well. I adjusted my ESC timing from the default to medium. That seemed to improve the altitude hold. Now I am having some minor drift and I still need to fine tune the PID. I took it up this morning it was having some odd yaw fluctuations. Eventually, I crashed and broke a prop. Hehe.

Curious to know if you've fine tuned your PID and what you values you end up with.

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ModeratorPermalink Reply by John Church on August 10, 2010 at 7:58am

I wonder if some of the "oddness" or uncommanded inputs can be explained by EMI. It might be worth installing ferrite rings on our ESCs and shielding the APM/electronics from the battery/motor wires by placing some foil, etc, under the electronics shelf for good measure.

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Permalink Reply by Kevin Vertucio on August 10, 2010 at 8:03am

John, it's worth a shot. I never noticed any of that sort of behavior until today.

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Permalink Reply by Scott Quartochi on August 10, 2010 at 1:53pm

I am still working with the default PIDs

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JDronesPermalink Reply by Jani Hirvinen on August 20, 2010 at 6:20pm

Almost every user has to find their own PID values due different people lives on different areas and altitudes, having different weight of quad, different motors, different propellers and so on.

We in ArduCopter team can only give starting point for PIDs. And future ArduCopter full kit can use those values quite well due airframe and electronics is same.

Here is quote from one of out developer how he tunes PID values:

"Adjust PID is not an easy task, I started with a basic (low values) of P and D and I=0 (ex: P=1, D=0.3) then I start to increase I until the quad auto trim (I part is like a trim value, if it´s too low the quad could not auto trim...) then I start to increase D ( be carefull because too much D makes quad unstable). when I get the maximun D value I reduce it a bit (for example for max D is about 0.8, so I finally use D = 0.5). D term is very important because it´s the "stability" term... if you see the code D value it´s the same as the P value of the acrobatic mode (it´s proportional to the gyro rate). When you increase D, you loose manual control (the quad is more lazy), so more D needs more P. Now it´s time to increase P, again too much P makes the quad unstable, so put in a safe value."

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