So which of the many parameters can I adjust for this? I've done the manual and auto tuning. It flies like a dream. Rock solid. But on the ground it will oscillate/wobble until it lifts off.
Pitch:
P .165
I .165
D .007
Roll:
P .1
I: .1
D: .004
Stab:
Pitch P: 8.25
Roll P: 8.25
Yaw P: 5
Replies
This is interesting. I guess you are using some soft landing skid? It is possible with such wobble, but the chance is so small. Most of the time changing the landing skid will solve the problem.
Nope, solid plastic and CF landing skids. It's not bouncing up and down. It's oscillating just like it would in flight with P values too high.
Yeah, when the copter is on the ground, with the landing skid, the resonance frequency is reduced than when it's in the air. Occationally your setup has the resonance frequency that hits the controller when it's on the ground. If you try changing to a stiffer or softer landing skid the oscillation will disappear.
Changing the parameter can also solve this problem, but it may affect the performance in the air a little bit. You can do it in two ways: reducing the P gain of the correspond motion (Rate Kp of roll or pitch or both depends on which way your copter is oscillating), increasing the D gain (Rate Kd, roll or pitch).