Discussions

after doing the AutoTune the drone becomes too responsive (over sensetive)

Posted by Geert Pirens on December 2, 2014 at 11:21am

Hi,

After I did a AutoTune my drone became too responsive.

Before AutoTune flying was way more pleasant.

To rollback these settings do I have to change the PIDs to it's defauld settings?

This is my setup:

Pixhawk with Hexa Arducopter 3.2-rc14

Mission planner 1.3.15.2 (Beta)

Below the screenschots of the PIDs before and after AutoTune:

i'm not familiar with these settings and not certain what to change.

any advice is welcome!

You need to be a member of diydrones to add comments!

Join diydrones

pixhawk

Email me when people reply –

Replies

JHIN December 2, 2014 at 3:20pm

The new Stabilize Roll value caught my eye - try lower it to 4.5 - equal to Stabilize Pitch. It looks like something went wrong during AutoTune. The ideal values depend on size, weight and number of arms of the multicopter, motor size and props etc, please let us know and we may be able to give you better advice.

Also maybe try another AutoTune?

Good luck!

-Jan
- Geert Pirens > JHIN December 3, 2014 at 11:46am
  
  Here some info on my drone:
  
  Frame: Tarot TY690S Hexacopter
  
  Weight: 2.850 Kg. (all included)
  
  Motors: 700kv
  
  Props: 13x4.5
  
  Battery: 4S 5000mAh
  - Geert Pirens > Geert Pirens December 4, 2014 at 12:32pm
    
    Frame: Tarot TY690S Hexacopter
    
    Size: 690mm
    
    Weight: 2.940 Kg. (all included)
    
    ESC's ZTW-Spider 30A opto (SimonK V2014-09-30 BS N-FET) [No Sync Problems]
    
    Motors: 700kv
    
    Props: 13x4.5 carbon
    
    Battery: 4S 5000mAh Turnigy
  - JHIN > Geert Pirens December 3, 2014 at 12:49pm
    
    That's about one kilo heavier than my 550mm size scratch built hexa, so I guess my PID values wouldn't be of much help.
    
    Still - a good starting point for Stabilize Roll and Pitch may be around 9.0 for both. My PI values for Rate on my hexa after AutoTune ended up around 0.1 for both Roll and Pitch, yours may end up higher because of a heavier ship. D rates I don't know, mine ended around 0.01 for roll and pitch - I think it depends on final Rate PI values - anyway a successful AutoTune would take care of those, I think..
    
    So either reset all values to default and try AutoTune again, or try mine (at your own risk :-) ) before a retry. If you have a gimbal mounted it should be removed before attempting AutoTune, or at least secure all moving parts so nothing is hanging loose.
    
    Somebody else may comment on your "accelerometer health" issue, but did you calibrate?
    
    -Jan
Andre K. December 2, 2014 at 12:51pm

Increase your exponential stick scaling on tx
- Geert Pirens > Andre K. December 2, 2014 at 2:08pm
  
  The problem is that it not anly in stabilize mode but also appears in AlHold or PosHold it also reacts fast and strange you can hear this by the props.
  
  There where also "accelerometer health" issues and I could not arm the drone.
  
  Could this be because it was 3.8° degree (38.84F) that affects the accelerometer sensor?
  - Andre K. > Geert Pirens December 2, 2014 at 2:49pm
    
    I have been flying in much colder weather, also with "frozen" equipment that was spotted in car over night. No difference except for batteries.