So I have been flying my Pixhawk quadcopter now without any tuning and everything seems to be good except Yaw drift. Its not horrible but annoying enough that I have to keep giving it input to keep it straight. Do I just auto tune or is there a better way of reducing it.
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I don't know if an autotune will help a yaw drift, as it only tunes roll an pitch, but you might try it, because when a motor accererates or decelerates, the angular (yaw) influence is immediate, while thrust (roll/pitch) is a bit delayed.
You also have the option to do an auto-trim and check the effects, Avoid compassmot for the moment on Pixhawk,