I have a Quad with 900KV 400Watt motors, 12X4.5 blades, motor to motor distance is 70cm, I'm using APM2, entire Quad weight is 2.7kg. Each motor thrust is 1550g, so it can handle this weight so easily.
Now, I want to know some initial basic suggestions for entire PID parameters from experts, I've read all instructions and all documents on PID. I want a calculator or an initial suggestion.
Could you experts advice?
I have a Quad like you but only 1.9Kg ;) 700KV motors 180W
I Fly with the Default settings, except Rate
P = 0,09
D = 0.02
I have tested many hours other values, but no big differences,,,
My weight is because of LiPo battery, it's 20,000 mAh. So do you think in WP and Auto mode, no modification is required to make Copter move better and faster? My copter in Auto mode doesn't rotate or move to target fast, also cannot hold position in some winds. Thanks
Type of Motors and propellers?
Lipo 3S or 4S?
Type of ESC? Flashed with Special Firmware?
You have 1 LiPo with 20Ah? or 2x 10Ah ? if you think you can fly 2x times longer with 20Ah instead of 10ah, thats not right. :)
For me your copter are too heavy, for a good control you need 2-3x more power (thrust), you have total thrust of 6 kg but your Quad need 3 kg (rounded up) only to hover.
example my Quad is too heavy if I Fly with the Cam 400gr + Gimbal 200gr...
Total weight 1.9 kg
Total thrust 4.0 kg
But if I Fly without the cam and Gimbal (1.3kg) It flies much better.
ESC are normal ESC, not flashed
I have 1 Lipo 20Ah. It's 1KG.
What do you think now? What should I do? Suggestions?
The defaults are set for s 3s battery running 850Kv motors, and 10 inch props.
The Rate_P gain is used to convert desired rotation to motor PWM. If your motor produces a lot of thrust, you don't need such a high value. You can start lower and raise it until it oscillates in the air. Then back it off until it's just a little unstable. Then increase the rate_D term from 0 to .004. See it that makes it better and brings it to the sweet spot.
The D term isn't that useful unless you push your P term right to the edge of acceptable flight. The D term can fix that last bit of instability and make the thing very nimble in the air.
Oh, And familiarize yourself with the CH6 tuning capabiltiy. I can use that to tune a copter in the air in a matter of minutes.
Thanks for response, I've read CH6 Tunning, but can't understand where that lever knob is in my RC.
Could I do this using 3DR Radio live in Mission Planner? Is there an easy to understand with graphics Ch6 Tunning tutorial?