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Some small (or big) problems with autotune and pid tuning at tbs style frame

Posted by SpeedyHulk on June 15, 2015 at 12:46pm

hi everyone,

i´m german. sorry for bad english :(

i have an tbs style frame (eyefly goliath). 

weight 1800g

4s lipo

tiger mt2216 900kv with graupner eprops 11"

auav-x2 with arducopter 3.2.1

all together i´m happy with the software.

but i think it could be better. if i giving full pitch i´m getting wobble. i don´t which axis, but i see it on ccd cam.

in the past i tested several autotune. it was always very crispy. especially at pitch axis. but the esc sounds very strange.....the reason was that rate pitch D was more than 0,02 and rate pitch p often more than 0,25, sometimes over 0,3.

so i tuned manually and i think it´s ok. but the wobbel is uncool. 

another question....in poshold at 20km/h wind....is it ok, if there is a little bit swinging? could it be better?

attached are my pids and a log from last flight with stabilize and poshold.

3691216160?profile=original

2015-06-15 20-03-54.bin

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Replies

  • Markus Horeld June 17, 2015 at 1:09am

    Hi SpeedyHulk,

    this are my current settings with AC 3.2.1:

    3702030326?profile=originalI've attached a log also. Don't know if there is something helpful in it, it was just a short flight a few weeks ago...

    2015-05-18 19-53-32.log

  • Markus Horeld June 16, 2015 at 1:18am

    Hi, I'm flying nearly the same setup, except for the props (I use Grauper's 9x5 and sometimes 10x5). But my PID values are way bigger: http://diydrones.com/photo/pid-settings-for-tbs-disco (except for Stab P). I tuned them manually a long time ago and the machine flies great in every mode. (The IMAX values have changed since I'm using the default values, which are higher now.)

    All the best, Markus

    • SpeedyHulk > Markus Horeld June 16, 2015 at 4:19am

      Hi Markus,

      thanks for reply.

      i see your pids are completly difference. why did you Change imax at roll and pitch? what makes it?

      it seems that your "d" is low for such high p-values. if i would raise p it would be overshot, i think.

      do you have a log?

      Greets

      • Markus Horeld > SpeedyHulk June 16, 2015 at 5:03am

        Hi SpeedyHulk,

        I didn't change IMAX manually. The default values changed from my first Arducupter firmware (2.9.1) till now (3.2.1), and as I use the default values they changed in my setup from firmware to firmware. I didn't notice any difference.

        As I am not at home at the moment I can't check, which IMAX values are default at the moment. I will have a look tomorrow - and also attach a log.

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