Hi, I have a problem with the sonar altitude hold. I am running AC2.0.20 with default pids and the quad is in stable mode and is rock steady, when I engage alt hold at about 10 ft it holds really well within 6-12 inches. I turn off alt hold, do a bit of flying and try alt hold again it holds really well but after I've done this routine a couple more times it will not hold at all it just keeps climbing steadily until I turn off Alt hold. I have checked the sonar in the CLI test mode and every thing seems OK. Has anyone else seen this behaviour? and can it be corrected by adjusting the PIDs?
You need to be a member of diydrones to add comments!
My experience with sonar (as of 2.0.19) has been similiar. Initially, the default pids caused mine to sink. I began bringing P up from .35 to .45 and had much better luck - as I hit alt hold, it drops a half foot or so but the seems to hold altitude fairly well, but it makes me a little nervous., When I went past a P of .5 it would rise quickly.I still need to play with it, tho, as I am not really certain of any stability. In the past I had a sonar mounting problem (Was not down far enough) and it would act very flaky probably due to close reflection. Mounting it lower solved this problem. I recently reloaded Ardupirate code to verify the hardware - it tracks altitude incredibly well- no change when you enter it and rarely more than an inch variance even over many surfaces.
Replies