First Very Thinks 3.1.2 Heli Development Group !

My 500 Heli can flight more stable .

But when I switch to ALT_HOLD mode , the 500 Heli

flight 2 meters to 4 meters hight and any more ...

THR_ACCEL_D,0.03
THR_ACCEL_I,0.5
THR_ACCEL_IMAX,500
THR_ACCEL_P,0.5
THR_ALT_I,0.04
THR_ALT_IMAX,300
THR_ALT_P,0.5
THR_MAX,1000
THR_MID,500
THR_MIN,130
THR_RATE_D,0.05
THR_RATE_I,0.01
THR_RATE_IMAX,300
THR_RATE_P,2

here is my param file _ please give me help .ThankS again .

V3.12_500_0220_50Hz.param

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  • your INS_MPU6K_FILTER is set to 0.

    it's a noise filter for the accelerometers. 

    set it to 20 and see how you go from there.

    Mine tried to head for the moon every time I was tweeking alt hold.

    Jason

    • If the filter is set to 0, then it is default, which is 20Hz, so changing it to 20 should have no effect.

      • really?

        have you looked at the comment next to it in the parameter list in mission planner, have you looked in your param's file?

        its not a 0,1,2,3 type variable, like the the CH.5 modes

        it's a number in hertz for the filter.

        My tricopter tried to go into orbit when |INS_MPU6K_FILTER was set to 0.

        it holds altitude when set to 20, the alt hold PID's just need tuning to (don't they always)

        I had a similar problem which I was struggling with which was caused by this...

        • What comment are you seeing?  Here is what should show up:

          Filter frequency to ask the MPU6000 to apply to samples. This can be set to a lower value to try to cope with very high vibration levels in aircraft. The default value on ArduPlane, APMrover2 and ArduCopter is 20Hz. This option takes effect on the next reboot or gyro initialisation

          • Out of curiosity, if 0 is enabled, what does setting it to 1 or 2 do?

            • If it is set to 0, it goes to default (which is 20) not "off".  If you set it to 1 or 2 or some other invalid number, I believe it will also go to default.  The only valid options really are 5, 10, 20, 42 and 98.

              • nice to see you are agreeing with me, you still havn't understood the description completly...

                Filter frequency to ask the MPU6000 to apply to samples. This can be set to a lower value to try to cope with very high vibration levels in aircraft. The default value on ArduPlane, APMrover2 and ArduCopter is 20Hz. This option takes effect on the next reboot or gyro initialisation

                Meaning it should have defaulted to 20 when installed, mine didn't and it's obvious others havn't either.

                The new Mission Planner, has values on a drop down, from 5 to 98 (the numbers you quoted) previously it was a free text field...

                0 is a problem and a bad default. 0 does not mean 20.

                also, it say lower values, ie 1 through to 19 and much higher

          • Yup, there you go, it says it should default to 20, but in Cao Zhang's param file, it is clearly set to zero.

            (as it was also in mine)

            Filter frequency to ask the MPU6000 to apply to samples. This can be set to a lower value to try to cope with very high vibration levels in aircraft. The default value on ArduPlane, APMrover2 and ArduCopter is 20Hz. This option takes effect on the next reboot or gyro initialisation

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