Looks like I'm getting some altitude overshoot that causes the throttle controller to oscillate. See log graph below. It's most noticable when I execute the Takeoff 20m command but I can see evidence every time the copter climbs to a programmed altitude. The copter always appears to overshoot the altitude, followed by Throttle Out oscillating a bit. I was hoping to get some help from PID experts on where to start tweeking. Any suggestions on what parameters to fiddle with? I've also attached the log file.
Equipment:
APM 2.0
Arducopter 3.01
3DR Quad Frame, motors etc.
Log File 2013-10-14_11-11_1.log
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