Annoying yaw movements Iris+ - how to tune them away

Posted by Christoph on October 23, 2015 at 8:00pm

I am using my Iris+ for about half a year now. Without any major issues. All is running smooth.

There is just one annoying issue that with a 2-axis gimbal (Tarot) I always need post video stabilization as there are strongly visible yaw movements.

I have seen other raw videos on youtube and it seems that some persons get much better yaw stability.

I tried tuning the PIDs with minor success. Basically I am able to tune down the amplitude of the yaw movements, change their frequency, but so far have not gotten them to a level which I found appropriate.

Anyone having good experiences with that?For me it's hard to accept that I would need a 3 axis gimbal. I still hope it can be fixed by a good tuning.

Currently my PIDs for yaw are like that:

rate P  0.7

rate D 0.008

rate i 0.03

stab P 10.0

Anyone having better values? Anyone having a good idea on the tuning strategy? Less stab P and tryin to solve it via the rate values?

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Replies

  • Justin H. October 26, 2015 at 8:19am

    Well, here's a demo of what I came up with using the Tarot 2D. No post-processing. The nadir shots are the most telling, even tiny twitches will show up very obviously.

    • Christoph > Justin H. October 27, 2015 at 6:47am

      You were flying that all in manual, so no auto, loiter, position hold?

    • Justin H. > Christoph October 27, 2015 at 11:42am

      Yes, all in STB.

    • Justin H. > Justin H. October 26, 2015 at 8:36am

      And here's the same pilot, same craft, with a flat expo curve.

    • Christoph > Justin H. October 27, 2015 at 6:37am

      Can you share your PID settings for YAW?

      Thanks.

    • Justin H. > Christoph October 27, 2015 at 11:41am

      Stab Yaw P: 5.00

      Rate Yaw

      P: 0.400

      I: 0.040

      D: 0.004

      IMAX 100

  • Christoph October 26, 2015 at 7:44am

    Hi Erik, I see it like this:

    Along the X and Y axis the quad needs to tilt in order to manoeuver around. Those system immanent and necessary movements you don't want to see on your camera, so you need at least to stabilize those two axis.

    Yaw movements are intentionally. The quad itself with its control loop acts as a stabilizer. So theoretically there is no need to add stabilization around the Z axis, if the quad would stabilize it perfectly.

    • Erik Graham > Christoph October 26, 2015 at 10:36pm
      Maybe in perfect conditions with no wind. But in real world conditions, if you want buttery smooth video your gonna have to bite the bullet and step up to a 3-axis.
  • Erik Graham October 25, 2015 at 11:44pm
    "For me it's hard to accept that I would need a 3 axis gimbal."

    I'm curious why? The quad maneuvers on 3-axis so if you want stable, smooth video, you'll need a 3-axis gimbal.

    You might be able to soften things up with PIDs, but it's impossible to remove completely.
  • Mark Perot October 23, 2015 at 10:28pm
    This the fieyu tech G3. Works great.

    image.jpeg

    https://storage.ning.com/topology/rest/1.0/file/get/3702113987?profile=original
This reply was deleted.