This is a discussion re the ArduCopter-3.1 AutoTune feature. A place for people to report successes and failures, ask questions and get answers.
The AutoTune wiki page is here.
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Nice, thank's Leonard to take a look, I try like this.
I have just done my 1st autotune (Pitch & Roll) on my S500 frame, 11x45 props and SS 3108-720 motors. 3S Nanotech 4500. ZTW Spider 30 ESCs. Weight 1450 grams.
The new PIDs were stored but I have no idea if they are "reasonable". They certainly have changed :)
I initiated Autotune while in AltHold mode and did a few manual corrections to avoid the trees :) Flight took 12 minutes until I heard a sound from the Pixhawk which I took to mean end of tune. A few seconds later I got a battery failsafe and the quad did a nice RTL for me.
Why would the P and I values be the same?
Why would the Stabilize Pitch & Roll values be 2-3 times higher than the default values?
Autotune PIDs.PNG
Every frame is built differently, so the PID values could increase or decrease.
When the autotune is engaged, it tries to find a tune that works best for your frame.
Sometimes, you will find that, even after an autotune, you still have to adjust the PIDs manually for optimum performance.
Ok, I reset to default parameters, double checked everything mechanically, recalibrated ESC's, accels and compass, then took it up. Wow, what a difference. It flies better on default PID's than it did after multiple Autotuning and tweaking..
It's too early to say for sure, but right now I'm thinking BLHeli is da bomb, at least for this copter and ESC's. On my 1900g test quad the Quattro is much better, but I think being 2.7-3kg the Alien 680 is too much for the stock firmware.
If the weather holds out this week, I'll see what Autotune does. My confidence level is high.
I'm anxious to have mine, I follow your autotune results :)
Ok, I finally got around to reassembling the Alien 680 with the BLHeli flashed Quattro ESC. Observations:
1) BLHeli is awesome. During Auto Tune I could see and hear the difference in motor response.
2) Auto Tune process: much quicker recovery, snappy, less altitude loss.
3) After Auto Tune: much better handling, copter doesn't overshoot like before.
Now for the bad:
1) In Pos Hold, it is still not stable in wind.
2) Descents are better, but still wobbles on occasion; gimbal cannot compensate well enough.
3) With APC MR props, vibration is high. With cheapo CF, much better, but I don't like cheap props as IMO over 400-500g thrust they flex at the hub (center) outward and cause oscillations.
4) PID's for pitch and roll are very diverged.
Conclusion:
Today I did a thorough inspection of the frame. At 3179g with GP and gimbal, it is just too heavy for this frame I think. The motor mounts are weak and it is easy to flex them. IMO, the frame is crap. There are ways to strengthen it, but then you add weight. There are stronger motor mounts, but again adds weight plus expense. That doesn't fix the twisting of the arms, and with the props "thwopping" the frame from air wash I don't think helps either. I know others with this frame that are in ad continuum trying to remove vibrations and such. Overall I think the frame flexes too much and will likely disassemble and mothball it.
I will be looking for a strong frame, smaller in size and light after all equipment is attached. My eye is on these two. The XP2 is small, but the KDE 515 motors on 4s will run it with 12" props I'm fairly certain. The XPX is "heavy lift", so not sure I want that; already have a 750 Y6 boat anchor. They are all aluminum, which may seem obsolete by today's standards, but simple in design and look to be strong. This is purely for using a GP and gimbal to take some decent video.
http://xproheli.com/collections/frames/products/xpx-quadcopter-frame
http://xproheli.com/collections/frames/products/xp2-quadcopter-frame
It looks to me they are having a fire sale.
Note: eCalc was WAY off on throttle %(log) on the Alien 680 @3179g. It predicted 58% throttle, but actual was 50%. I had this problem earlier this year and contacted eCalc about it. They changed it, but it's never been as accurate as it was before. I'm currently using 14" props. If 13" is plugged in eCalc predicts 74%, which I'd bet wouldn't hit 60% as at 2.7kg it was 51%. Just sayin" They are releasing a new version so maybe it will be better.
Cala,
Sorry, I didn't see your post as I get so many email notifications.
For the Quattro like I have, it was very simple although time consuming because the initial flashing requires exposing the board so it can be flashed with the BLHeli bootloader. After that the signal wires can be used. My daughter held the pins on the pads because my hands are too shaky.. On my setup I installed the Quattro with the board facing the frame so had to do a total disassembly :( However, I had a spare Quattro and did that first.
For instructions on the Quattro, this is a very good one. The only setting I did different was change the timing to Med High. I already had a Nano Arduino which made it even easier.
https://www.youtube.com/watch?v=XbgqQsAz2yk
Some ESC's come pre-installed with BLH, but be careful as they don't all have the bootloader. Here is the link to BLHeli
https://blhelisuite.wordpress.com/ In it are manuals and supported ESC's. They just released 14.3 on 11/27.
If you need more info let me know.
Thank's DG, I thought that you have separate esc like this http://www.hobbyking.com/hobbyking/store/__73079__Hobbywing_X_Rotor... they looks very lightweight, you know them? There are ones flashed http://www.hobbyking.com/hobbyking/store/__65153__Turnigy_Multistar... but looks heavy (near my 40 A opto) and I read that they have problems to update, I'm thinking in change the 40A ones on my longer time flying copter for smaller and more efficient ones to be more efficient, he don't need that too big esc but I'm not have much electronic knowledge too so looking for something plug and flash preferibly or better, flashed but with update capabilities. .......I need all LOL
I found this but not shure if it's usefull for any esc http://www.hobbyking.com/hobbyking/store/__10628__Turnigy_USB_Linke...
Sorry the offtopic
Apologies again Cala! My email is so overloaded with forum alerts I miss the important ones.
The RCG link is where to go for answers for HW 20A and 40A ESC's if flashing to BLHeli. http://www.rcgroups.com/forums/showthread.php?t=2254658&page=53
Ask the group if there is a source for HW ESC's already flashed with BLHeli. Be very cautious about this because some (especially knockoffs) don't actually have the BLHeli bootloader installed!! The hardest part is doing the first flash because the heat shrink needs to be removed. After the first flash it's easy. I used Arduino's to do it.
That said today I finally got around to flashing the Quattro ESC (4 in 1) to BLHeli and putting the quad back together. The difference is so great the copter is unflyable. ROFL. What I mean by that is now the motors are so responsive, the original PID's (sluggish response) before flashing are causing the copter to oscillate horribly. I ended up resetting everything to default and will try tuning ASAP. Seriously, I could not believe the difference.
Don't worry DG, I know about that ;) ; finally I asked for the esc that you recommend (hobbywing) and arduino board to try to flash them..... and an extra esc in case...;) , now I have a long wait and cross fingers to recive them, perhaps in january and I'm going to ask for help to flash them :)
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