Posted by Dwgsparky on September 5, 2012 at 6:16am
Newbie question, I have a APM2 on a flying wing but I want to move it to a normal 4channel high wing plane, I see the connection for the rudder but would like to know if the rudder takes a active part in the auto control scheme or is it just used in manual? Thanks.
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I did some more tuning and came up with an excellent setup for my airplane. It made a big difference in controlling yaw during loiter.
Rudder Mix 0.10 In the Servo Yaw Pid box I set P = 0.10 I = 0.50 D = 0 Imax = 5.0
My airplane has lots of rudder authority so your PIDs may need to be larger. Each airplane will be a little different so if you start with my values you should have it nailed after a few flights.
This weekend I did some experimenting with rudder (YAW) PIDs. You really need to use telemetry and graph the rudder position (servo4 raw) and Y-axis acceleration (called ay in the mission planner but yacc on the graph?????).
I setup a mission segment that start with a 170 degree turn then a long segment (about half a mile) followed by another turn in the opposite direction as the first.
I made a baseline flight with everything turned off and it was not that bad. For some airplanes that might be plenty good enough.
It was recommended that I set Yaw Servo I to something I the 2 to 5 range so I set it to 2 and set Imax to 5. That was an improvement but seamed to lag a bit.
Next I tried setting I to 0 and P to 0.4. That was different and was maybe too much gain. That was the last test that I flew.
Next time out I will try a combination of I and P. I will start with something low like P=0.1 and I=0.5 and see how that looks.
I am flying a SIG Rascal 72 that cruises at about 35 to 40 MPH. I do NOT have an airspeed sensor. That will be one of my winter projects to cut the wing open and install an airspeed sensor but it flies extremely well without it.
I would like to hear from others that have tried to tune for active rudder control.
I asked that question before but never got a reply. I would like to know if there is logic that controls the sideslip in flight.
The only thing I have been able to figure out is that there is a rudder mix parameter that’s set by default but all the other rudder parameters are set to 0?
Replies
I did some more tuning and came up with an excellent setup for my airplane. It made a big difference in controlling yaw during loiter.
Rudder Mix 0.10
In the Servo Yaw Pid box I set
P = 0.10
I = 0.50
D = 0
Imax = 5.0
My airplane has lots of rudder authority so your PIDs may need to be larger. Each airplane will be a little different so if you start with my values you should have it nailed after a few flights.
.
This weekend I did some experimenting with rudder (YAW) PIDs. You really need to use telemetry and graph the rudder position (servo4 raw) and Y-axis acceleration (called ay in the mission planner but yacc on the graph?????).
I setup a mission segment that start with a 170 degree turn then a long segment (about half a mile) followed by another turn in the opposite direction as the first.
I made a baseline flight with everything turned off and it was not that bad. For some airplanes that might be plenty good enough.
It was recommended that I set Yaw Servo I to something I the 2 to 5 range so I set it to 2 and set Imax to 5. That was an improvement but seamed to lag a bit.
Next I tried setting I to 0 and P to 0.4. That was different and was maybe too much gain. That was the last test that I flew.
Next time out I will try a combination of I and P. I will start with something low like P=0.1 and I=0.5 and see how that looks.
I am flying a SIG Rascal 72 that cruises at about 35 to 40 MPH. I do NOT have an airspeed sensor. That will be one of my winter projects to cut the wing open and install an airspeed sensor but it flies extremely well without it.
I would like to hear from others that have tried to tune for active rudder control.
.
I asked that question before but never got a reply. I would like to know if there is logic that controls the sideslip in flight.
The only thing I have been able to figure out is that there is a rudder mix parameter that’s set by default but all the other rudder parameters are set to 0?
.