I'm running initial flying trials with custom quad, apm2.
So far: Level good, Stabilize good, Alt hold good
Loiter works but starts with small pendulum movements which grow to huge pendulum movements, describing an arc of about 50 ft length. Slight breeze during testing poss 3 mph. Any guidance on what needs adjusting?
Replies
Virgil. I am just starting to learn about this stuff.
The loiter and nav pids were posted in the forum. I don't think it made it to the wiki.. You can look through the source code or forums.
Take your props off and check your motors. It appears that my issue is tied to motor 1. I think it has a bad bearing creating more spin resistance. I will update the forum with my results.
I got similar overshoot then Loiter.
Tried to change pids, without any changes.
Is that GPS slow position update?
Virgis
Try lowering loiter_rate_P. You're accelerating back to center faster than the GPS is updating the position.
Jason
You might want to check out the arducopter wiki, there's a simulator over there. I think no one has offered to help because no one wants to be the one that gives you the info, it's wrong and you crash hard. Because I've been asking. So I've been playing with the PID value simulator and tweaking the stock 3drobotics parameters.
I know you need to take into consideration your quad frame type, size, motors in kv, prop size, also from my experience so far... have you set your inclination deviation ? Dont' use manual, find out what it is where you live and set it. My quad performance in loiter improved.
I know there's a lot of reading I've got to do before I have loiter working perfectly with my platform.
Here's my quad specs.. I am using APM2 as well. If it's similar maybe we can work on t together.
Frame Size 540mm
Motors: 26-28a 1200kv
props 10.5"
ESC 30A
weight w/battery 680g