Discussions

I was finnally able to flight test my Quad.

it weighs 1.2 kgs

swings 10 inch props with 400 series motors.

Firstly I tested with the Arducopter RC2 code. My first take off had uncontrollable yaw. under stable mode. 

I didn't read the wikis properly, so i continued by messing around the stock PID values for STABLE mode. Finally with a P of 6 and with a -2.4 D value on yaw i was able to stop the crazy spinning. But this was in stable mode. Flew pretty well, (had some drift) but this was all in STABLE mode.

After I read that PID tuning was supposed to be done in acrobatic mode first. I understand why this is but, under acrobatic mode my quad is refusing to even take off, 

Now I have the pirateNG code loaded, with very low PID values, Yaw is 0 for all of em and Pitch and Roll is 0.5. Its taking off at 75 % throttle, with some oscillation. (maybe i have to redo my throttle calibrations ) but put any values for D on any axis it refuses to take off. but its oscillating on the ground. (Note: my landing gear aren't level so they do rock a little bit during thrust up.)  

Im hoping my problems are just normal to people who build different frames, I have a frame coming from quadframe, which should be here soon. Along with the Xbees so tuning will go a bit better. (xBees will make this a lot easier, i'm hoping)

Is there a difference in how the PID controller is coded, between Pirate and Copter code?