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RT @donkey_car: Human-scale Donkey Car! Hope this makes it to a @diyrobocars race https://www.youtube.com/watch?v=ZMaf031U8jg
RT @GrantEMoe: I won my first @diyrobocars @donkey_car virtual race! Many thanks to @chr1sa @EllerbachMaxime @tawnkramer and everyone who m…
RT @gclue_akira: JetRacerで自動走行したコースを、InstantNeRFで再構築。データセットは別々に収集 #jetracer #instantNeRT https://t.co/T8zjg3MFyO
RT @SmallpixelCar: SPC 3.0 Now the motor also works. This car is doable. I just need to design a deck to mount my compute and sensors. http…
RT @SmallpixelCar: High speed at @diyrobocars thanks @EdwardM26321707 for sharing the video https://t.co/o4317Y2U1S
RT @SmallpixelCar: Today at @RAMS_RC_Club for @diyrobocars. Used @emlid RTK GPS and @adafruit @BoschGlobal IMU. Lap time 28s https://t.co/R…
RT @f1tenth: Say hi to our newest #F1TENTH creation for @ieee_ras_icra next week in Philly. It’s going to be huge! 😎 🔥 @AutowareFdn @PennEn…
Our next Virtual Race will be on June 4th:
https://www.meetup.com/DIYRobocars/events/285787423?utm_medium=referral&utm_campaign=share-btn_savedevents_share_modal&utm_source=link
RT @SmallpixelCar: Noticed my car zigzagged in last run. It turned out to be the grass stuck in the wheel and made the odometry less accura…
Replies
I agree usually too high PIDs for a high power of copter will give a up and down movement when attempting to hover.It seems you can never find the right throttle to hold a given altitude. Same thing with other control boards such as KK2.
As far as the RTL, If you've been hovering, loitering or generally staying in one spot and switch to RTL the aircraft will almost always turn 90 degrees or more head off in the new direction until it can get a compass heading cross referenced with the GPS. THEN it will actually return to launch more directly. I've done the RTL test about half dozen times from a loiter and it has done this each time.
More info: Hexa; motors 880 KV; APM 2.5; v2.9.1
Logs attached (sorry, no Wireless Telem).
In Alt Hold and RTL your throttle proportional (P) gains or perhaps though less likely your derivative (D) gains are drastically off (way too high)
In your simple mode your correctional proportional gains are too low (once again could be derivative, but this is rarely the case)
ALSO!
Your Integral (I) gains may be wayyyyyyyyy to high in the simple mode, which can cause long and under-responsive correctional tendencies.
I highly doubt it is a hardware issue.
I would lean more to the PID's for you Alt Hold/ Loiter. I had the same issue until i adjusted the PID's and the jumping bean is no more. How big (KV rating) are your motors? If they are like mine (1000Kv) then you will need to really reduce your PID's from the stock setting. I would start by reducing the P term by 1.0 (ex. stock: 2.5 new: 1.5) and see if that helps your jumping.
At the very least DO NOT try any other settings/ flt modes until you get Alt Hold or Loiter set! This WILL end in a crash/ fly away almost every time!
Mick pleas add your logs so the "experts" can have a look.