Loiter Spirals

2nd and third flight today on my Hex, a little wind, gusts up around 6mph.  All went really well except a couple of Loiter expanding spirals (see pic).  In both cases, the spiral was expanding and I took control back before they got out of hand.  Obviously I need to tweak the PIDs a bit and I'd appreciate advice on where to begin.  

Stats: 3DR Hex, 880Kv motors w/ 11x4.7 APC Props

APM 2.0, external UBlox GPS

Hex: 1742g (w/ GoPro payload), Battery (6000mah 4S), 600g

Total weight: 2342g 

Current PIDs:

STAB_D,0
STAB_D_S,0.5
STB_PIT_I,0.05
STB_PIT_IMAX,800
STB_PIT_P,4.2
STB_RLL_I,0.05
STB_RLL_IMAX,800
STB_RLL_P,4.2
STB_YAW_I,0.02
STB_YAW_IMAX,800
STB_YAW_P,7

LOITER_LAT_D,0.4
LOITER_LAT_I,0.08
LOITER_LAT_IMAX,3000
LOITER_LAT_P,2.4
LOITER_LON_D,0.4
LOITER_LON_I,0.08
LOITER_LON_IMAX,3000
LOITER_LON_P,2.4

RATE_PIT_D,0.004
RATE_PIT_I,0
RATE_PIT_IMAX,500
RATE_PIT_P,0.14
RATE_RLL_D,0.004
RATE_RLL_I,0
RATE_RLL_IMAX,500
RATE_RLL_P,0.14
RATE_YAW_D,0
RATE_YAW_I,0.02
RATE_YAW_IMAX,800
RATE_YAW_P,0.25

Any assistance on where to begin appreciated

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Replies to This Discussion


DeveloperPermalink Reply by jasonshort on September 16, 2012 at 7:02pm

If you're overshooting, lower loiter_rate_P.

Aka : LOITER_LAT_P, LOITER_LON_P

Those spirals look like Magnetometer calibration issues as well. It may fix itself after flying for a while.

Jason

Permalink Reply by Justin on September 19, 2012 at 2:47pm

Thanks for the pointer Jason, I'll give it a whirl this weekend

Permalink Reply by Doug Bowman on October 23, 2012 at 11:10pm

Any resolution on this issue?  My hex is doing the same thing.

Doug B.

Permalink Reply by AlexP on October 29, 2012 at 10:28am

I had the same issue and spent hours and hours tweaking PID's. Could not solve the problem until....see the solution is this post that I posted. 

http://www.diydrones.com/forum/topics/arducopter-2-8-released?comme...

 

 

Permalink Reply by Doug Bowman on November 1, 2012 at 6:42pm

Fixed - upgraded from 2.7.3 to 2.8.1 and loiter is quite good.  Without camera & extra battery hex is jumpy but held position in the wind much better than previous version.

Doug B.

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