Odd attitude control issues with tradheli on 450

Posted by Mark Omo on April 9, 2016 at 6:45pm

So right now I am working with a 450 that has an odd issue, with the stock throttle accel settings after a few seconds of great flight it will start jack hammering in flight.

here is the video of the jack hammering: https://www.youtube.com/watch?v=zsNNitA1YLM

and here is the log: feedback log

so we turned down the throttle accel p and the throttle accel i keeping the 2:1 ratio suggested here: http://ardupilot.org/copter/docs/tuning.html#tuning

and here is the video: https://www.youtube.com/watch?v=r_gCLHCIvJA

it may not come across but the whole time I was holding the collective up and it started pushing itself down before I cut the motor.

here is the log: odd alt

What might be causing this weird behaviour? can anyone help?

Thanks

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Replies

  • Developer
    Randy April 10, 2016 at 9:10am

    I've had a quick peek at your logs and vibration levels seem pretty reasonable although we can't see them directly with Copter-3.2.1 so you might want to upgrade to Copter-3.3.3.  In any case, I think you should try greatly reducing the "Throttle Accel" P and I values.  By default I think they are 0.75 and 1.5 so try dropping those to 0.5 and 1.0 respectively.  Reducing even more should be fine.

    • Mark Omo > Randy April 10, 2016 at 5:15pm

      ya so the video of the softer values we dropped them to .5 and 1 and got that softer reaction, and then further and still got the same values

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