Hi everybody,
Recently I switched to a 4s battery from my 3s one. My quadcopter became really unstable and wobbly, even flipped over at first.
Then I tried tuning & tweaking PID settings. It is finally stable But it is too sensitive on all aspects.
It gains height too fast. It became too agile for me to handle.
It is either at 6-7 meter height or on the ground now.
Specs:
- Total Weight : 1300gr
- Ardupilot 2.5 + LEA 6H GPS (Firmware : 3.0.1 Quad in X mode)
- 40A HK Blueseries
- 1000kv NTM 28-26
- 1047 GWS Propellers
- 4S 30-40C 3600Mah
I didnt know that 4S was too much for my motors which are too high on kv, and propellers which are too large.
Please help :(
Replies
I believe you need to tune your throttle mid setting. Watch Randy's Arducopter 3.0 maiden flight video on youtube.
Remember at 4S, your motors will be spinning faster. 10 inch props seem way too big for those little 1000KV motors when running 4S and will pull a lot of current through them. I use 8 inch props on the 28-26 1200KV motors with 4S and 9 or 10 inch props on the 28-26 750KV motors with 4S.
May help if you tell people which code you're running and even providing a log.
Those RATE_ values look quite strange to me. My quad is also quite powerful (running 4S like you, 1000kv motors, turning 8x4.5 props) and I use these values for 3.0.1:
RATE_RLL_P 0.06
RATE_RLL_I 0.1
RATE_RLL_D 0.004
(same for RATE_PIT...)
I've left the STB_RLL values at the defaults.