Discussions

Y6 owners, I need help

Posted by Mike Mac on May 17, 2012 at 3:02am

I just made a couple of test flights with my new Y6 and sound that the settings I used on my quad don’t work. First in stable mode I had a very large slow oscillation and had the lower the STAB_P gain all the way to 1.8. Now it is very sloppy in flight and does not have precise control.

It’s a medium size Y6 with 11" props and 5000 3s LiPo. I have tried Rate_P between .09 and .14 and it does not seam to make much difference. The recommendation is .11 but it feels like it needs to be much higher than that.

Could some Y6 owners post your settings and any Y6 tuning hints that you have learned.

 

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Replies

  • Marc Puig June 6, 2012 at 6:47am

    My Y6:

    • 62cm motor to centre.
    • 1.8kg without batteries
    • 700kv motors (HK hexTronik DT700)
    • 18A Plush ESC default firmware, sil microcontroller :(
    • 11x4.7 props

    Stabilize Roll/Pitch (locked): 

    • P: 4.500
    • I: 0.100
    • IMAX: 40.0
    • Stabilize D: 0.150

    Stabilize Yaw:

    • P: 7.000
    • I: 0.005
    • IMAX: 8.0

    Rate Roll/Pitch:

    • P: 0.160
    • I: 0.075
    • D: 0.000
    • IMAX: 5.0

    Rate Yaw:

    • P: 0.100
    • I: 0.002
    • D: 0.000
    • IMAX: 50.0

    Loiter (not too good): 

    • P: 0.016
    • I: 0.012
    • IMAX: 20.0

    Nav WP (very bad behaviour, I need to adjust them)

  • Cliff-E May 18, 2012 at 12:37pm

    Quad PID settings should not work...

    My Y6 (600mm size, 10x4.x props, HW 30A (Sil), A2830 motors and a under 1kg dry weight (no battery) frame:

    Roll/Pitch:

    Rate_P: 0.128

    Rate_I: 0

    Rate_D: 0

    Yaw:

    Rate_P: 0.14

    Rate_I: 0

    Rate_D: 0

    Others:

    Stab_D:183

    Stab_I: .1 

    stab_p: whatever your fly style suits

    Throttle_P: 0.110

    Throttle_I: 0

    thr_d: 0.020

    Custom frames require more testing. Good luck. Try flying a few feet off the ground with the GPS and compass off 1st to see if the settings are good.

  • Marc LE BRET May 18, 2012 at 9:39am

    Hello,

    I have an Y6 and had some success with an earlier version of Firmware. Then I upgraded the firmware, swapped propellers and ended scratching my head. After a few days pause, I went back to it and redid the PID job.

    First, you need to tune Rate Roll/Pitch P and I. Variable Channel 6 option is great for that. If you have a I =0, there is no way to tune P as there is no resistance to counter a tendency to tilt or roll. You can start with a 0.25 I and set your variable Rate P from 0.05 to 0.15 with channel 6. 

    Now, you can go to test fly. Start with low P, increase power till lift off and observe. If the Y 6 is difficult to manage (quite no reaction to your input) and difficulties to stay in position, land, increase P and redo till you get oscillation (P is to hight). Lower it 10%.

    Then you can tune  rate I (new setup with your computer and Channel 6). Do not forget to read  the latest P and write it to memory before. As an approach to tune I, I increase power (not enough to lift off), give an order to tilt forward and observe: if  the tail stay up it's quite fine. After lift off I observe the flight and the tendency of the craft. If attitude is steady (flat or tilted right/left/forward or aft) and there is  no overshot or adverse vibration I'm quite happy. 

    Then to fine tune I, you have to get some altitude and perform quick descent to check wobble. No Wobble= good I.

    You can now try to set Stabilize PID. As flight control rely on  Gyro P to calculate Stab flight correction , a good rate PID setting is mandatory.

    My latest PID are Rate P 0.1 I 0.2 D 0.001

    Stab P 2.32 I 0.005 D 0.003

    My Y6 weight is 3 1/2 pounds with 10" props.

    I have still some work to do, but I'm quite happy for now, (no bad vibrations).

    Have a nice flight,

    Marc

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