hello all , so i just finished my second disco build , but with a few differences , i wanted to get as many bells and whistles as i could so ive swapped out the naza for APM 2.6 and minimosd , all the video gear and gimbal going perfect , but when it came to tuning the PIDS things get hairy , im using all stock TBS 900kv motors and the "bullet proof" 30 amp esc , i see a few of you guys had the original disco set up running apm , could you share your pids? so i can compare notes :D any suggestions would be awesome ! :D
You can start with these links
Your picture shows an old style GPS, but you say you have got APM2.6. APM2.6 comes with no onboard compass.
If you have an external compass elsewhere on the frame, keep it far away from any magnetic fields or anything that is metallic. If you don't have a compass, get one. you can find them from a few places like here or ebay or hobbyking.
Keep the compass and GPS away from any transmitters like your vid tx and the telemetry radio.
thanks for the links , the gps unit is actually the new one with the compas built in , i just didnt get the fancy little black case , i will be moving the gps and vtx and mavlink but i need to lengthen the cables , its all a very tight fit ,ill have another go at tuning the pids tomorrow
I can share my PID's if you want, but they'll not be spot on, given the extra weight and CoG issues of the Pro model.
I'm also an advocate of the "less is more" school, so I'm running standard settings, with only 2 changes:
P on roll and pitch=0.145, I=0, D=0.008
Yaw= 0.225 (though if you're gimballing, you might want to go *less* not *more*)
My build was here:
Gotta say...I do like the Pro version. Lots of feature I hope will trickle down to the normal disco.
I found D was much more effective - can't say I noticed any changes in I too much, so I just left it.
If my Pi is 0.145, are you saying I should have I at 0.145 as well?
hi euan , i followed your build with much anticipation!!! it came out great , i found the default settings dangerously unstable , it was wobbly and pitchy and angry , and you can imagine those grapner props hacking off fingers, so hence the reason i built the wooden frame around the disco with bungie cables holding it from attacking me, im just about to give it another go ill post my results
ok so today ive been having another go, but ive noticed a few diffrences between my mission planner pids and everyone elses , i seem to have larger numbers than everyone else , and if i try anyone elses pids its its just a mess of wobbles here is a picture , that p rate is about the highest i can go with out ossilations, so if i was to use euans for instance i get to about 5% throt before it gets the wobbles and experientially gets worse unless i kill throt