Two things to tune in ACM2 - help needed
After having some problems with previous version of Arducopter code (including ardupirates) i tried current, second version. I must say that im impressed, it flies quite well at default settings ! Quite, because i must solve 2 things, im flying only in stabilise mode as for now.
1. Quad is prestty stable, but also a bit "nervous". From time to time its catching short oscillation, also its oscillating a bit at quick descent. What parameter should i change (rise or lower ?) to correct it ? Wiki suggest to focus at Kd, but maybe in this case its matter of "P" ?
2. This matter is a bit more complicated. During flight with first version of Arducopter (and ardupirates) i noticed that after crazy and fast flight quad its drifting quite strongly to opposite direction for some time. For example if i did some fast forward flight with some turns and so on, and if i try hover just after that - quad drifts backward quite strongly. After some time, about 10-15 seconds quad get back his level and hovering more or less in place again. Also landing and reconnecting battery do work.
Unfortunatelly i see that same behavior with ACM2, but not so strong like in previous version. After fast flight forward and relasing sticks, quad for about 5 seconds tries to drift backward till it get back his level and hover normally. What can be reason of such behavior ? In my opinion, in ACM2 it looks like quad is trying to stop his forward move when i relase sticks, but this "contraction" is too strong making him not only stop, but also drift backward. What parameters i should try change (rise or lower) to correct this ?
My setup:
- APM 1280 + Oilpan (version before 1.4.), no magneto, no sonar, no GPS
- 850 kV RCTimer motors with 10x4.7 APC props
- own frame with 50 cm motor to motor distance
- 1 kg RTF weight
Greg
Replies to This Discussion
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Permalink Reply by MB1380 on -
I am also experiencing the short oscillation which you have. I tried changing the D value to -0.1 and +0.1 but both were un flyable. I then lowered the P value to 0.5 and then to 0.4 and it is slightly better but still not right. I also lowered the stabalise damp value but still have oscillation.
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Permalink Reply by Matthew Gray on
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try increasing the stabilize damp value. That helped me.
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Permalink Reply by eduardo on
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if you put too much Ki the AC will back when you release sticks.
Put less i parameter.
As Kp i think that you can change "STABILIZE DAMP"
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Permalink Reply by Kristian on
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2. I have exactly the same problem that you describe! Sometimes I have to give full stick movement to stop the quad from flying away.. Did you solve this problem?
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Permalink Reply by Greg on
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Hello Kristian,
Soon after this post i been forced to crash my quadrocopter. He again had HUGE problems with leveling, once been escaping right so strongly that i been not able to stop him even will full action at my transmitter sticks. I had no other choice than make very hard, half-controled landing because i been affraid he will hit cars parked near of our airfield. Damages were not too big, but such situation should never happen. I wanted fly Arducopter with FPV in next couple weeks, buy how i can do this if such things happen ? If he will get crazy again 1 kilometer away somebody can get hurt because problems to control it !
So yes, i solved this problem, i forgot about Arducopter, at least for some time, and bought MK flight controller. I had no other choice, after this what i seen i cannot trust arducopter at all as stable FPV platform. No matter how much i like this open source idea and Arduino projects generally, my unit (maybe its faulty, i dont have idea) at current code, behaves sometimes extremally unpredictable, what can make it potentialy dangerous. I cannot handle such risk in FPV flying for fun and relax. Maybe will come back to Arducopter when things will get more stable and sure than are now.
Greg
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Permalink Reply by Kristian on
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I agree. The problems have to be sorted out before I can use it to anything serious. I decided to give it a try again, and have started a new thread about this problem. Will try changing some settings, logging etc. If I don't get any results this time I will probably also have to go for another controller.
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