I started having some serious yaw issues as well since around 2.0.18/19 I believe.
In STABILIZE giving it right yaw stick, yaws it left slowly, left stick yaws it left aggressively.
If I don;t touch the yaw stick it is fairly stable, but I can hear the motors "twitch" occasionally, which was not the case before either.
SIMPLE Mode seems to work, but not as smooth as it used to. After coming out of SIMPLE mode back to STABILIZE yaw works for a short time and then reverts to the "left yaw" issue. Not sure either if that is a PID issue as quite some code has changed between SVN versions 2433 > 2441.
Not sure if anybody experiences that too or if I something with my IMU has screwed up.
Ollie.
Replies
Problem sorted! It was the ESC's... Now I am back in business...
Just one slight issue is, that the trim is a little off. with no stick input the arducopter speeds up backwards.
Have to permantly give a very small amount of forward stick to keep it in position.
Obviously RC trimming is a no, no. How to counteract that ?
test > Radio shows 0 input when the stick is centered so, its not a radio offset issue.
It is so strange. All was good until recent releases.
Mag is installed. One difference though is, that I use my old GAUI frame with the GAUI ESCs. Any chance that they are not compatible with some recent changes ?
One of the motors (3) just does not get enough power as verified with the GCS.
Here are the log files if it would help:
NTUN, 0, 0, 0, 0, 0, 0, 0, 0
CTUN, 19, 0, 0, 359, 359, 0, 0.0000, 0, 0, 8, 0, -8, 0
CTUN, 19, 0, 0, 358, 358, 0, 0.0000, 0, 0, -26, 0, 26, 0
NTUN, 0, 0, 0, 0, 0, 0, 0, 0
CTUN, 19, 0, 0, 356, 356, 0, 0.0000, 0, 0, -44, 0, 44, 0
CTUN, 19, 0, 0, 355, 355, 0, 0.0000, 0, 0, -52, 0, 52, 0
CTUN, 19, 0, 0, 353, 353, 0, -1.0000, 0, 0, -35, 0, 35, 0
NTUN, 0, 0, 0, 0, 0, 0, 0, 0
CTUN, 19, 0, 0, 351, 351, 0, 0.0000, 0, 0, -17, 0, 17, 0
CTUN, 19, 0, 0, 349, 349, 0, 0.0000, 0, 0, -17, 0, 17, 0
NTUN, 0, 0, 0, 0, 0, 0, 0, 0
CTUN, 19, 0, 0, 347, 347, 0, 0.0000, 0, 0, 0, 0, 0, 0
CTUN, 19, 0, 0, 344, 344, 0, 0.0000, 0, 0, 8, 0, -8, 0
NTUN, 0, 0, 0, 0, 0, 0, 0, 0
CTUN, 19, 0, 0, 342, 342, 0, 0.0000, 0, 0, 17, 0, -17, 0
CTUN, 19, 0, 0, 339, 339, 0, 0.0000, 0, 0, 26, 0, -26, 0
CTUN, 19, 0, 0, 336, 336, 0, 0.0000, 0, 0, 26, 0, -26, 0
NTUN, 0, 0, 0, 0, 0, 0, 0, 0
CTUN, 19, 0, 0, 333, 333, 0, 0.0000, 0, 0, 26, 0, -26, 0
CTUN, 19, 0, 0, 330, 330, 0, 0.0000, 0, 0, 26, 0, -26, 0
NTUN, 0, 0, 0, 0, 0, 0, 0, 0
CTUN, 19, 0, 0, 326, 326, 0, -1.0000, 0, 0, 26, 0, -26, 0
CTUN, 19, 0, 0, 323, 323, 0, 0.0000, 0, 0, 26, 0, -26, 0
NTUN, 0, 0, 0, 0, 0, 0, 0, 0
CTUN, 19, 0, 0, 319, 319, 0, 0.0000, 0, 0, 35, 0, -35, 0
CTUN, 19, 0, 0, 315, 315, 0, 0.0000, 0, 0, 35, 0, -35, 0
CTUN, 19, 0, 0, 310, 310, 0, -1.0000, 0, 0, 35, 0, -35, 0
NTUN, 0, 0, 0, 0, 0, 0, 0, 0
CTUN, 19, 0, 0, 306, 306, 0, -1.0000, 0, 0, 35, 0, -35, 0
CTUN, 19, 0, 0, 301, 301, 0, -1.0000, 0, 0, 35, 0, -35, 0
NTUN, 0, 0, 0, 0, 0, 0, 0, 0
CTUN, 19, 0, 0, 296, 296, 0, 0.0000, 0, 0, 52, 0, -52, 0
CTUN, 19, 0, 0, 292, 292, 0, -1.0000, 0, 0, 52, 0, -52, 0
NTUN, 0, 0, 0, 0, 0, 0, 0, 0
CTUN, 19, 0, 0, 286, 286, 0, 0.0000, 0, 0, 52, 0, -52, 0
CTUN, 19, 0, 0, 281, 281, 0, -1.0000, 0, 0, 52, 0, -52, 0
CTUN, 19, 0, 0, 277, 277, 0, -1.0000, 0, 0, 61, 0, -61, 0
NTUN, 0, 0, 0, 0, 0, 0, 0, 0
CTUN, 19, 0, 0, 272, 272, 0, -1.0000, 0, 0, 61, 0, -61, 0
CTUN, 19, 0, 0, 267, 267, 0, 0.0000, 0, 0, 70, 0, -70, 0
NTUN, 0, 0, 0, 0, 0, 0, 0, 0
CTUN, 19, 0, 0, 262, 262, 0, -1.0000, 0, 0, 79, 0, -79, 0
CTUN, 19, 0, 0, 258, 258, 0, -1.0000, 0, 0, 88, 0, -88, 0
NTUN, 0, 0, 0, 0, 0, 0, 0, 0
CTUN, 19, 0, 0, 253, 253, 0, -1.0000, 0, 0, 97, 0, -97, 0
CTUN, 19, 0, 0, 249, 249, 0, -1.0000, 0, 0, 105, 0, -105, 0
CTUN, 19, 0, 0, 245, 245, 0, -2.0000, 0, 0, 114, 0, -114, 0
NTUN, 0, 0, 0, 0, 0, 0, 0, 0
CTUN, 19, 0, 0, 241, 241, 0, -1.0000, 0, 0, 114, 0, -114, 0
CTUN, 19, 0, 0, 238, 238, 0, -1.0000, 0, 0, 79, 0, -79, 0
NTUN, 0, 0, 0, 0, 0, 0, 0, 0
CTUN, 19, 0, 0, 234, 234, 0, -2.0000, 0, 0, 61, 0, -61, 0
CTUN, 19, 0, 0, 231, 231, 0, -1.0000, 0, 0, 52, 0, -52, 0
NTUN, 0, 0, 0, 0, 0, 0, 0, 0
CTUN, 19, 0, 0, 228, 228, 0, -3.0000, 0, 0, 44, 0, -44, 0
CTUN, 19, 0, 0, 225, 225, 0, -2.0000, 0, 0, 44, 0, -44, 0
CTUN, 19, 0, 0, 222, 222, 0, -1.0000, 0, 0, 44, 0, -44, 0
NTUN, 0, 0, 0, 0, 0, 0, 0, 0
CTUN, 19, 0, 0, 220, 220, 0, -2.0000, 0, 0, 26, 0, -26, 0
CTUN, 19, 0, 0, 218, 218, 0, -2.0000, 0, 0, 26, 0, -26, 0
Just double-checking that you guys enabled the magnetometer?
Jason and I were flying all day with two quads and the latest code and the yaw was rock solid. We don't bother with manually setting up the offsets, although I do set the declination. The magnetometer now autocalibrates in the air. It starts off okay, but gets progressively better over a period of seven minutes. Once calibrated, the offsets are saved.
I'd suggest skipping the CLI offsets, which we'll probably remove entirely when we take AC2 out of beta, and just let it autocalibrate. I recommend flying in simple mode, which makes small yaw variance something you don't have to pay any attention to.