I did it! I've got a perfect rock solid loiter even in 13mph gust winds! My 2200 lipo apparently only gets me 3 minute stable flights. Sure the motors will spin and I can fly for the next 2 minutes, but yaw, pitch and roll would drift. The first 3 minutes are perfect! I ordered a larger 6000ma Lipo pack.
I'm thinking if it's a calm wind I'll get @ 15 minutes, If it's windy I'll get @ 10 minutes.
Here's the parameters I used:
ACRO_P,4.5
AHRS_YAW_P,0.2
ALT_HOLD_RTL,0
AMP_PER_VOLT,27.32
APPROACH_ALT,0
AUTO_LAND,20000
AUTO_SLEW,30
AXIS_ENABLE,0
AXIS_P,0.02
BATT_CAPACITY,2200
BATT_MONITOR,0
CAM_P_DZ,0
CAM_P_G,1
CAM_P_MAX,1900
CAM_P_MIN,1100
CAM_P_REV,1
CAM_P_TRIM,1500
CAM_R_DZ,0
CAM_R_G,1
CAM_R_MAX,1900
CAM_R_MIN,1100
CAM_R_REV,1
CAM_R_TRIM,1500
CH7_OPT,7
COMPASS_AUTODEC,0
COMPASS_DEC,-0.252
COMPASS_LEARN,1
COMPASS_OFS_X,-126.633
COMPASS_OFS_Y,37.978
COMPASS_OFS_Z,-193.855
COMPASS_USE,1
ESC,0
FLOW_ENABLE,0
FLTMODE1,0
FLTMODE2,0
FLTMODE3,6
FLTMODE4,9
FLTMODE5,0
FLTMODE6,5
FRAME,1
HLD_LAT_I,0
HLD_LAT_IMAX,3000
HLD_LAT_P,0.47
HLD_LON_I,0
HLD_LON_IMAX,3000
HLD_LON_P,0.47
IMU_PRODUCT_ID,88
INPUT_VOLTS,5
LED_MODE,9
LOG_BITMASK,0
LOG_LASTFILE,0
LOITER_LAT_D,0.4
LOITER_LAT_I,0.08
LOITER_LAT_IMAX,3000
LOITER_LAT_P,2.5
LOITER_LON_D,0.4
LOITER_LON_I,0.08
LOITER_LON_IMAX,3000
LOITER_LON_P,2.5
LOW_VOLT,9.6
MAG_ENABLE,1
MOT_TB_RATIO,1
NAV_LAT_D,0
NAV_LAT_I,0.2
NAV_LAT_IMAX,3000
NAV_LAT_P,3
NAV_LON_D,0
NAV_LON_I,0.2
NAV_LON_IMAX,3000
NAV_LON_P,3
OF_PIT_D,0.12
OF_PIT_I,3.2
OF_PIT_IMAX,400
OF_PIT_P,2.5
OF_RLL_D,0.12
OF_RLL_I,3.2
OF_RLL_IMAX,400
OF_RLL_P,2.5
RATE_PIT_D,0.004
RATE_PIT_I,0
RATE_PIT_IMAX,500
RATE_PIT_P,0.09
RATE_RLL_D,0.004
RATE_RLL_I,0
RATE_RLL_IMAX,500
RATE_RLL_P,0.09
RATE_YAW_D,0
RATE_YAW_I,0
RATE_YAW_IMAX,5000
RATE_YAW_P,0.15
RC_SPEED,490
RC1_DZ,30
RC1_MAX,1973
RC1_MIN,1173
RC1_REV,-1
RC1_TRIM,1578
RC2_DZ,30
RC2_MAX,1973
RC2_MIN,1171
RC2_REV,-1
RC2_TRIM,1574
RC3_DZ,30
RC3_MAX,2015
RC3_MIN,1114
RC3_REV,1
RC3_TRIM,1362
RC4_DZ,40
RC4_MAX,1848
RC4_MIN,1048
RC4_REV,1
RC4_TRIM,1450
RC5_DZ,0
RC5_MAX,1914
RC5_MIN,1109
RC5_REV,1
RC5_TRIM,1114
RC6_DZ,0
RC6_MAX,1913
RC6_MIN,1109
RC6_REV,1
RC6_TRIM,1113
RC7_DZ,0
RC7_MAX,1500
RC7_MIN,1499
RC7_REV,1
RC7_TRIM,1500
RC8_DZ,0
RC8_MAX,1500
RC8_MIN,1499
RC8_REV,1
RC8_TRIM,1500
RETRO_LOITER,0
RTL_LAND,1
SERIAL3_BAUD,57
SIMPLE,1
SONAR_ENABLE,1
SONAR_TYPE,1
SR0_EXT_STAT,0
SR0_EXTRA1,0
SR0_EXTRA2,0
SR0_EXTRA3,0
SR0_PARAMS,50
SR0_POSITION,0
SR0_RAW_CTRL,0
SR0_RAW_SENS,0
SR0_RC_CHAN,0
SR3_EXT_STAT,0
SR3_EXTRA1,0
SR3_EXTRA2,0
SR3_EXTRA3,0
SR3_PARAMS,0
SR3_POSITION,0
SR3_RAW_CTRL,0
SR3_RAW_SENS,0
SR3_RC_CHAN,0
STAB_D,0
STAB_D_S,0.5
STB_PIT_I,0.1
STB_PIT_IMAX,4000
STB_PIT_P,4.5
STB_RLL_I,0.1
STB_RLL_IMAX,4000
STB_RLL_P,4.5
STB_YAW_I,0.01
STB_YAW_IMAX,800
STB_YAW_P,7
SUPER_SIMPLE,0
SYSID_MYGCS,255
SYSID_SW_MREV,118
SYSID_SW_TYPE,10
SYSID_THISMAV,1
THR_ALT_I,0.007
THR_ALT_IMAX,300
THR_ALT_P,0.5
THR_FAILSAFE,0
THR_FS_ACTION,2
THR_FS_VALUE,975
THR_MAX,1000
THR_MIN,0
THR_RATE_D,0.02
THR_RATE_I,0
THR_RATE_IMAX,300
THR_RATE_P,0.2
TRIM_THROTTLE,411
TUNE,0
TUNE_HIGH,0
TUNE_LOW,0
VOLT_DIVIDER,3.56
WP_INDEX,0
WP_LOITER_RAD,10
WP_MODE,0
WP_MUST_INDEX,0
WP_RADIUS,100
WP_SPEED_MAX,600
WP_TOTAL,1
XTRK_GAIN_SC,1
Replies
Sorry, I am a newbie. Do we need to upload these parameters from PC to transmitter ? My Tx is Turnigy 9x, how ?
Thanks.
i'll be trying these values,
im new with quads and I can't get mine to fly stable.
i also have the same frame, can you post some pics of your quad?
or better yet some video. hope others will post their configuration and
parameters as well, this will help those who have similar setup to have
something to start with...cheers!
Thanks for posting this Jerry,
Brand new to the site and I just ordered the same exact parts for my first build. Really appreciate you providing a starting point that worked for you.
Dave
How heavy is your quad? Thanks for the parms. Very helpful. Watch parm did you find gave you the best return for a good loiter. My 2kg quad swings about 3 meters in a 10km wind. No gusts.
Well done for sharing that Jerry
Mine is a 650 frame but I'm sure this will be useful to many folks and there's just not enough people posting helpfull stuff/responses here