Finally got a good weather day that fall into a weekend. I went to my daughter's school's parking lot to try to tune my heli today. With enough room and let the heli freely roaming around, I've concluded that the heli is going to drift unpredictably no matter if I auto-trim or tune the stab PID in anyway. So I moved on to the next thing. Position hold! I figure if it can position hold, it should cancel out the random drifting.
With the default setting, the heli flew away from the parking lot so fast that's it's not even funny. After playing around the PID, finally got it to circle in a ... well, kinda circular shape type of path.
Then I got brave and tried the attitude hold again. This time, it works! Other than every few seconds, it drops down for a meter and jump right back up. It must be noise. But having enough room, I just let it be. So I tried Loiter!
It flew in a circle and holding the attitude! OMG! How cool is that! Hands free! Then I play around the PID a bit more and got the Loiter_P lower, and got it to circle slowly in a tight spot. Made the Loiter P even lower, it finally stationed within a meter!! What a sight! That was fun. Finally finished all my battery packs and had to come home. And sharing the joy! :D
EDIT: I have my log file attached and hope to see if anyone can spot anything that I can improve on the PIDs or anything at all.
Replies
Wesley,
Congrats!
-Randy
Congrats! What airframe were you using? And can you upload your param file (you can save it from the Mission Planner) here so others can try your settings, please.
Congrats! I know how frustrating in can be.
For the sonar, try putting in the capacitor and resistor as suggested on the Maxbotics site.
http://www.maxbotix.com/tutorials.htm