2nd and third flight today on my Hex, a little wind, gusts up around 6mph. All went really well except a couple of Loiter expanding spirals (see pic). In both cases, the spiral was expanding and I took control back before they got out of hand. Obviously I need to tweak the PIDs a bit and I'd appreciate advice on where to begin.
Stats: 3DR Hex, 880Kv motors w/ 11x4.7 APC Props
APM 2.0, external UBlox GPS
Hex: 1742g (w/ GoPro payload), Battery (6000mah 4S), 600g
Total weight: 2342g
Current PIDs:
STAB_D,0
STAB_D_S,0.5
STB_PIT_I,0.05
STB_PIT_IMAX,800
STB_PIT_P,4.2
STB_RLL_I,0.05
STB_RLL_IMAX,800
STB_RLL_P,4.2
STB_YAW_I,0.02
STB_YAW_IMAX,800
STB_YAW_P,7
LOITER_LAT_D,0.4
LOITER_LAT_I,0.08
LOITER_LAT_IMAX,3000
LOITER_LAT_P,2.4
LOITER_LON_D,0.4
LOITER_LON_I,0.08
LOITER_LON_IMAX,3000
LOITER_LON_P,2.4
RATE_PIT_D,0.004
RATE_PIT_I,0
RATE_PIT_IMAX,500
RATE_PIT_P,0.14
RATE_RLL_D,0.004
RATE_RLL_I,0
RATE_RLL_IMAX,500
RATE_RLL_P,0.14
RATE_YAW_D,0
RATE_YAW_I,0.02
RATE_YAW_IMAX,800
RATE_YAW_P,0.25
Any assistance on where to begin appreciated
Replies
Fixed - upgraded from 2.7.3 to 2.8.1 and loiter is quite good. Without camera & extra battery hex is jumpy but held position in the wind much better than previous version.
Doug B.
I had the same issue and spent hours and hours tweaking PID's. Could not solve the problem until....see the solution is this post that I posted.
http://www.diydrones.com/forum/topics/arducopter-2-8-released?comme...
Any resolution on this issue? My hex is doing the same thing.
Doug B.
If you're overshooting, lower loiter_rate_P.
Aka : LOITER_LAT_P, LOITER_LON_P
Those spirals look like Magnetometer calibration issues as well. It may fix itself after flying for a while.
Jason