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Help with Tuning AC2

Posted by Franco Nogarin on May 8, 2011 at 12:29pm

Hi Folks, Im new to these forums but have been lurking for a year,First Grats on AC2 Beta, the Mission Planner is excellent and the CLI is very comprehensive. I think you guys are poised to dominate with this combo :)

 

I Have built a Custom Coax Octo (Behaves and must be configured as a quad) in X mode.

The FC is the latest APM2560, I have flown it with AQ2.4 and she flies nice, I have also flown it with APNG latest but not a smooth. Today I rewired it to be compat with AC2 Beta and loaded it up. I have had a few nice flights and things are shaping up, but now comes the tuning, and I am a bit confused.

 

When I took off the first time it oscillated immediately upon lifitng off, so I went back in the lab, hooked it up to the Mission Planner and upened up the pid tuning interface. 

 

The AC2 manual states I should be modifying the Stabilize Kd, which does not correspond to any setting in the GUI, So after reading up on the PID algorithms, I noticed there was a Stabilize Damping paramater, and tried lowering it from the default of .13 to .09 and I was able to fly.(if Stab. Damping) Is what was meant in the manual, I humbly suggest to change KD to Stab. Damping)

 

Next I noticed that while I could fly, it was near to impossible to yaw without causing a wobble or the bird to undo my yaw. Since I have no mag on this APM, I wondered why or how it would be messing with my YAW, So I must assume it is correcting according to GPS values? Either way, I went back to the lab, cna back in the Pid tuning and lowered the Yaw damping to .1 from default. it smoothed the Yaw somewhat, but I do notice, that any wind gusts, cause it to either overcorrect yaw, or start to wobble a bit. I simply apply some agressive climb out throttle and let it back down to sort of smooth out the wobble. 

 

So I guess what I want to do is find out what the next steps in tuning this bird in are with regards to pids. 

Anyone care to point to a resource that applies to AC2 or give me some pointers?

 

Thanks In advance for any guidance.

Franco

see my fleet here: http://lab.westernwillow.com/muav/profile

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Replies

  • Matthew Gray May 10, 2011 at 6:22am
    Please help with PID's. Someone has got to explain more simple and thorough how to adjust these parameters. The wikipedia info is just confusing. My problem is my hexa oscillates like crazy. My stabilize kD values are all at 0. Should I go negative value?
  • Franco Nogarin May 9, 2011 at 6:56am
    wow, I noone has any comment on pid tuning AC2? Hmm.
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