My quad has problems with alt-hold. It flies fine in stab but once I switch it over it begins to lurch a lot. It fails to hold altitude too, sometimes it rises and sometimes it drops.
I have altitude Kp set to channel 6 and it is allowed to vary between 0.5 and 3. This setting does not seem to make much difference as the copter has similar symptoms over the entire range.
I'm not sure if my gains are too high or too low. I was thinking about setting throttle accel Ki to zero and adjusting either throttle accel Kp or throttle rate Kp using ch6. I don't want to make it go unstable though.
The other settings that I want to fiddle with are INAV_TC_Z and THR_MID. What is the difference between THR_MID and TRIM_THROTTLE?
My board has a problem with logging so I am unable to collect/post a log.
Any suggestions?
Here is the video:
These are my current settings. I have also tried the default settings to no avail.
Replies
Lower vibrations in your system.
Protect barometer.
Check Throttle MID
Try Settings:
1. Throttle Accel P 0.5-0.6
2. Throttle Accel I 1.0-1.2
2. Throttle Accel D 0.002-0.004
3. Throttle Rate 4.0-5.0
5. Altitude Hold P 1.05-1.1
Refine in small increments.
Once I put my APM 2.5 under a black dome and shaded the pressure sensor the AH performance improved dramatically. I know that using foam to cover it is a common solution, but if you can get a frame with an opaque dome, even better.
2.5.2 HK clone
But with that said I know some of my problems are my own fault. I also don't know what my experience would have been with a genuine board. It may very well have been identical.
I do know that genuine boards get much better support. I waited almost one month for shipping. That was painful. I didn't return my damaged board because the round trip shipping times and hassle would have been too high. I had a lot of firsts with this project. I learned how to use eagle cad, I looked through a bunch of data sheets, I expanded my soldering skills, and i now have a very good understanding of the hardware. In my opinion all of that would not have been worth the cost savings for the average consumer. Then again the average consumer buys naza. I like digging into things and in the end I have a working board so I am happy with the way things worked out.
Then there are the ethical, economical, and philosophical considerations to ponder about genuine vs clone...
Hopefully this helps your decision one way or the other.
check, or post your .log here, what you described - fits very well into my idea of excessive z vibrations.
My board is unable to log. I disabled my dataflash permanently while troubleshooting a hardware problem. I think I do have a z vibration problem though. I am using the earplug mounting method for isolation http://diydrones.com/profiles/blogs/foam-ear-plugs-for-vibration-da.... I am going to add a bunch of mass to the board to increase inertial resistance.
Does anybody have a good method for balancing a motor and prop assembly? I am trying to make an android spectrum analyzer app that can be used to perform the four run balancing procedure. In the meantime i would like to figure out some way of doing this.