PID Tuning - S1000 heavy lift

 Hi All;

I'm writing hoping that some of you experts can tip me out.

I'm fine tuning a heavy lift quadcopter: DJI S1000 stock frame+ESC+Motors+props, and Pixhawk 1 FC.

The UAV has a sturdy gimbal to carry a DSLR camera + Thermal Infrared sensor + NIR conerted Canon SX260HS.

I did a Pitch/Roll autotune, and today, after installing AC 3.5.0 FW and a compass and accelerometer calibration, I did a manual inflight tuning (CH6 - Pitch/Roll Rate - KP, KI, KD - Loiter mode).

Overall the performance is not that bad, however it's not what I'd like it to be: I need a stable ad smooth machine for filming, taking photos and 'photogrammetry work" - for instance hovering in Loiter in extremely light wind is not as solid as one would expect - the UAV moves around visibly, showing some twitchy behavior.

I'm attaching the data flash logs hoping some of you can spot some hints on what could improve the performance (stable and smooth).

I thank you all in advance for your feedback.

Best Regards

Giovanni

https://mega.nz/#!Y0kR1KKb

PixHawk Log

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –

Activity

DIY Robocars via Twitter
RT @SmallpixelCar: Test my algorithm on real car https://t.co/idWRxcrmuK
21 hours ago
DIY Robocars via Twitter
RT @breadcentric: Evo is coming to town. If you have an #AWS #DeepRacer, you can purchase an extension pack! https://t.co/w60JwI98Hp #Machi…
yesterday
DIY Robocars via Twitter
https://t.co/bzpbxytpsv
Monday
DIY Drones via Twitter
RT @chr1sa: My talk on PX4 and FAA certification is coming up at 1:45 PST today on the PX4 Dev Summit livestream. Includes some cool new st…
Jul 7
DIY Drones via Twitter
RT @seesharp: I'm tuned into the PX4 / Dronecode free live conference. Great stuff. Microsoft AirSim talk in 10 minutes. https://t.co/0zbZ2…
Jul 6
DIY Robocars via Twitter
RT @masato_ka: 距離センサを3つとESP32を付けたラジコンカーをDonkeyCarライクにNNで自動走行。3層FC極小モデルをTensorFlow Lite for microcontrollerで動かしてる。機体は借り物でRumiCarって言います。Tenso…
Jul 5
DIY Robocars via Twitter
RT @SmallpixelCar: My car was able to go all the way autonomously until the crosswalk. It was only 100 yards from the target. What should b…
Jul 4
Liam left a comment on Agricultural UAVs
"Hi
I'm Liam from T-MOTOR. I would like to reach out to see if there is any possibility for us to work together.
We are a propulsion system manufacturer who offers motors, propellers and ESCs for all kinds of drone applications which vary from secur…"
Jun 30
DIY Robocars via Twitter
RT @SmallpixelCar: Smart move. The car used the shadow to guide it through the bridge. This was never in the training samples. But it learn…
Jun 30
DIY Robocars via Twitter
RT @SmallpixelCar: Getting closer to the target. Single camera. Untrained road. https://t.co/Wsr7RwDamj
Jun 29
Richard Cox left a comment on Australia
"Anyone in the DIYDRONES Australian subgroup based in Alice Springs, NT?
I am experimenting with Ardupilot (standard Arduplane), Pixhawk 4 FC in a 4-ch
RC "AXN Floater Jet" foamy plane..."
Jun 29
Omar Sykes left a comment on Australia
"Hi everyone, I am looking for someone who is good at drone building, repair and software in Adelaide. Please give me a call on 0477 319 219."
Jun 29
DIY Robocars via Twitter
RT @RoboticMasters: #donkeycar https://t.co/czuLoVRcA4
Jun 29
DIY Robocars via Twitter
https://t.co/DKQbNTbz0g
Jun 29
DIY Robocars via Twitter
RT @RoboticMasters: Donkey car, car car car car car car; Donkey car, car car car car car car; Donkey Car. Anyone like our tiny tiny donkey…
Jun 29
DIY Robocars via Twitter
RT @SmallpixelCar: After improving DBSCAN speed, I can get 11 frame per second on @NVIDIAEmbedded Jerson Xavier MAXN mode and the autonomou…
Jun 26
More…