I just flew my maiden flight with my new, totally custom octocopter. Everything worked really well except that I entered into a heavy oscillation, which I was able to recover from. Does anyone have any advice for PIDs for such a frame? My frame is all carbon fiber, long arms, heavy lift motors running large slow flyer props.
Also, I did read through the wiki... I am more looking for some peoples personal experiences with similar setups.
Bump. Anyone with a heavy setup have PID advice? I'm going to start tuning tonight. I will post my results here in case anyone else needs similar info.
Hi, I have a heavy hex, about 3kg with no payload, it fly's great in stablize mode, but has real problems in loiter, behaving very eratic. I tried these setting tonight:-
The first flight wasn't too bad, holding position fairly well, however altitude was all over the place and would need to need to be switched back to stabilize after about 10 secs to prevent a crash . After changing the batteries for a second test flight I noticed upon takeoff that it wanted to drift right, when switched into loiter it pitched violently right and had to be switchrd out rapidly, I landed and disarmed the motors, made sure it was level and held the stick left for 15 seconds to recalibrate, upon takeoff the right drift had gone so I gained altitude and switched to loiter, again it pitched violently right and had to be switched out. I landed to think about things and it started to rain so had to abandon it for a few days.
Sorry I can't comment on your adjustment of PID values, but I can tell you that I have a large quad that behaves very well with defaults after cranking up the timing on my ESCs (fast response to support the fast input) and eliminating vibrations.
Did you have GPS 3D lock when switching to loiter?
Yeah we had GPS 3d lock
I lowered the Rate_P variables and slightly lowered the Stabilize_P variables, and that really helped reduce the violent oscillation. Today's flight was much more successful. After my flight, I took your advice and increased the timing on the ESCs to high. I have yet to try the new timing out, but I'm sure that will help as well.
Hi Adam, can you post a screenshot of your pid?
I've a big octo and i havent found a good setting with pid... :/
Marco, I just found this old post of yours. I am guessing you have your PIDs tuned by now? What did you end up with for your large octo? I am running Rate P of .275, I/D at 0, Stab P of 1.995, I .06 and D 0.
Thanks Adam, this is a very old post, i was very newbie here (like now, lol)... :-)
I sold about 2 months my x-octo with APM1, i honestly do not remember what were the last parameters that I flew.
I had two crashes in two test flights with the last git this two weeks with my "kamikaze (damn) quad", so for now is not my intention install APM2 in one of my four octo/hexa, for now there remains with Mikrokopter, so I can not give you my current parameters with this code installed on a "big drone"... :-)
I've found this one (of March)...
Sorry to hear about your crashes. I was reading about them on the dev list emails. I have since reverted to 2.6 Epsilon because I got really good results from the most recent community release. I am not brave enough to beta test using my large octo. I need to spend some cash on a "throw away" quad for testing only. Mikrokopter is a sure bet for you in the mean time. I still haven't purchased one yet (SO EXPENSIVE!)
I've got a failry big octo, droidworx AD8 HL + Photohigher Av200/360 cam mount, about 4kg without camera, I've messed with setting a fair bit and find that lower P rate and higher D rate works well, thus the copter is smooth yet with the higher d rate still gets back to level well.
currently my copter is set to P of 2 and D rate of 0.2
It also depends what you want to do, with us shooting mostly video the smooth motion is great, but I've also played with more 'normal setting like P 4 and D .145, which I think is default.
Hope this helps.