Rate D will be a input based upon the acceleration of the yaw. So the higher the acceleration, the higher the counter acting force from the engines will be. In theory a very good thing but because there is noise in the sensors, the acceleration values can jump around a lot and that could cause you troubles.
By the way, you should be able to turn on logging of the PID values by going into the CLI, "logs", "enable PID" and then when you're tuning one of the yaw parameters with CH6, you'll find at the same time that the PID values are logged to the dataflash.
One last thing, 2.6.1 has a much improved yaw controller (implemented by Jason and Robert Lefebvre).
Replies
Hi,
i have problems settiing up my small quad for Yaw.
When flying fast it doesn´t hold the angle.
Can you give me more details about the parameters.
Is there a difference between Yaw and Pitch/Roll.
To my experince both Values - Stab and Rate are used in Arco Mode. Is this correct?
What is the differnce between those two P Values?
And what are the I-max values for?
regards
Florian
Jeff,
Rate D will be a input based upon the acceleration of the yaw. So the higher the acceleration, the higher the counter acting force from the engines will be. In theory a very good thing but because there is noise in the sensors, the acceleration values can jump around a lot and that could cause you troubles.
By the way, you should be able to turn on logging of the PID values by going into the CLI, "logs", "enable PID" and then when you're tuning one of the yaw parameters with CH6, you'll find at the same time that the PID values are logged to the dataflash.
One last thing, 2.6.1 has a much improved yaw controller (implemented by Jason and Robert Lefebvre).