After I complete a few rapid pirhouettes in succession and release the sticks, I get a surge in throttle with a rapid increase in altitude of a few feet. This is while in loiter mode, haven't tried it in stabilize mode yet.
Wondering what to tune, maybe throttle_I? any ideas?
Replies
I did a quick test this morning, the climb after stopping an abrupt yaw was pretty apparent, though it might not show up in the logs as I don't have sonar height, only baro.
I've got motor logging on, and it looks to me like it is boosting motor input when I began the yaw (good, two motors working harder, two less) but also when I stop the yaw. I was never giving it reverse yaw to stop the pirhouette, only releasing the sticks, so that boost on the tail end seems a bit much, and I guess is the thing Elvis and I are hoping to tune out (if its still apparent in 2.9.x). Red line is Yaw IN, others are MOTORs.
BTW, is there a better log/graph viewer floating around? You really need to be able to scale the view in X and Y independently, and scale/normalize the different inputs to be in the same range.
2013-02-09 10-44 4 - yaw test.kmz
2013-02-09 10-44 4.log
2013-02-09 10-44 4.log.gpx
AC.
Elvis, Andrew, are you guys flying helis or multirotors?
Manfred Dickgiesser has been complaining about this issue on helis too.
I'll capture a log for it this weekend.
In Mode 2, it is *very* difficult to ensure that the throttle is not moved while doing a piro. I struggled with it and thought there was a system issue.
Does this behavior occur with a piro in either direction?
-=Doug
+1 there, I've noticed that after any sharp yaw inputs my quad tends to abruptly jump up a few feet or more when I release the sticks. 2.8.1 at this stage though.