Hello everybody !
I am up to do my 1st flight with my quad :
- structure/ESCs/motors from a GAUI 330x, what was flying well.
(I have unmounted its GAUI inertial unit)
- Rx is a Spektrum AR9000 (Tx a Graupner MC22)
- New IMU : APM with its sensor board (SW release : alpha_RC1)
- no GPS (my mediatek is back to DIYdrones, to be repaired...),
- no telemetry
- The radio is calibrated in the configurator, and ESCs are calibrated too (directly with the Rx)
- I have also checked motors direction, and good behavior of conter-reaction when I move the quad
- only one detail : a slow drift on yaw axis (~0.1°/s), but seems to be "normal" without magnetometer hybridization.
I need advices for the real 1st flight :
(a) Do I start with roll/pitch/yaw default PID parameters, or only P coefficients (and I & D set to 0) ?
(b) If I need to adjust parameters (should be normal, as I don't use a real quad structure but a 330x), I need to
- modify source, build it and download,
- or I can use configurator ? In stable and acrobatic windows ? anywhere else ?
(c) PID tuning if default parameters too far from stable flight:
In STABLE configuration:
- I & D set to 0,
- only P adjusted, upto little oscillation,
- then P a little bit decreased to avoid oscillation,
- then I increased upto slow drift cancelation,
- D (P_rate) increase to facilitate fast answer, but below oscillation
and same thing in ACROBATIC configuration
What do you think about this 1st flight strategy ?
Thank you for your advices,
Gilles
Replies
I have answered to to my questions by myself !
Question (b) : I have done my 1st flights and I have started to adjust PID parameters with Configurator.
Questions (a) & (c) by myself : I have started with default parameters, and it was OK !!!
So, this topic can be closed.
I will describe my 1st flight in another topic soon ....
Gilles