Posted by Bill Geyer on November 8, 2015 at 6:51pm
I'm in the process of tuning my 4 bladed, 10 lb helicopter. I have the rate_xxx_p gains high enough that the Heli responds nicely in stabilize mode but when trying to fly in acro mode, the aircraft response is very lagged to my inputs. Even with rotors static, you can see the swashplate response is lagged in acro but not in stabilize. Here are my settingsATC_RATE_RP_MAX=36000ATC_ACCEL_RP_MAX=162000ATC_RATE_FF_ENABLE=1RATE_ROLL_P=0.13RATE_PIT_P=0.13RATE_ROLL_D=0RATE_PIT_D=0RATE_ROLL_I=0RATE_PIT_I=0RATE_ROLL_FF=0.02RATE_PIT_FF=0.02ACRO_RP_P=4.5ACRO_EXPO=0ACRO_TRAINER=0If anyone can shed some insight, I would greatly appreciate it.
You need to be a member of diydrones to add comments!
Thanks for the response. Here is a log from a flight I did earlier today. I had increased the ATC rate and Accel max parameters because i thought the rate and accel limiting was causing the lag. I was using the channel 6 option to vary RATE_RP_P gain. It seemed like ACRO was responding better but still significant lag that was unacceptable.
First arming
ATC_ACCEL MAX 144000
ATC_RATE_MAX 36000
Tune RATE RP_P low 0.01
Tune RATE RP_P high 0.08
First hop mainly ACRO with a short hover in Stabilize at the end
second arming
ATC_ACCEL MAX 162000
ATC_RATE_MAX 36000
Tune RATE RP_P low 0.07
Tune RATE RP_P high 0.16
Mainly Stabilize with a little ACRO in middle. Reached RATE_RP_P of 0.11 at end of flight
Replies
maybe RC_FEEL is set too low? Try setting to 100? Just a guess. Best to post a log.
Randy,
Thanks for the response. Here is a log from a flight I did earlier today. I had increased the ATC rate and Accel max parameters because i thought the rate and accel limiting was causing the lag. I was using the channel 6 option to vary RATE_RP_P gain. It seemed like ACRO was responding better but still significant lag that was unacceptable.
2015-11-08 09-27-03.bin