The reason I'm asking is that I started going through DaveC's tuning guide and I'm getting a _very_ high rate_d parameter. In the region of 0.03 - 0.04. It might be because the frame is light and extremely stiff and that it is relatively powerful for such a small 'copter.
I'd just like to know if this is consistent with what other people are getting on this frame/motor/prop setups. I'll revert to the default parameters for mid-sized 'copters for the maiden flight. I'm sure it will fly great, if a bit sedately, but it is probably a very bad idea to fly with such highly tuned values from the start even if the setup can support it.
It is interesting that they'd turn down rate_p from defaults rather than up. My intuition says that a smaller/lighter frame (everything else remaining constant) would tend to handle like a smaller frame and hence require a higher rate_p.
Hi Willie. I've just finished assembling a slightly older 2012 model QU4D. Mine's got the arm end-motor mounts that slot into the carbon tubes, instead of the clamp-on fixtures like yours. I mounted my ESC's upright. I needed a bit of extra space between the body plates because I intentionally left the motor wires too long in case I wanted to change the wire layout in future.
I'm doing pre-flight checks and tests at the moment with my quad in a simple sling suspended from above. I'm just making double sure everything is straight, nothing is vibrating too much, nothing is loose, getting a feel for how much the hover throttle is - that type of thing.
I'd be interested to know what PID parameters you've come up with, if you've done any tuning.
Comments
The reason I'm asking is that I started going through DaveC's tuning guide and I'm getting a _very_ high rate_d parameter. In the region of 0.03 - 0.04. It might be because the frame is light and extremely stiff and that it is relatively powerful for such a small 'copter.
I'd just like to know if this is consistent with what other people are getting on this frame/motor/prop setups. I'll revert to the default parameters for mid-sized 'copters for the maiden flight. I'm sure it will fly great, if a bit sedately, but it is probably a very bad idea to fly with such highly tuned values from the start even if the setup can support it.
It is interesting that they'd turn down rate_p from defaults rather than up. My intuition says that a smaller/lighter frame (everything else remaining constant) would tend to handle like a smaller frame and hence require a higher rate_p.
Forgot, I would not have mind to mount my ECS's upwards, but they are too wide.
Played a bit and will be having time this weekend to do some fine tuning. I got the following settings from Jaco at SteadiDrone:
Change the Angular Rate Control P from 0.175 to 0.1
Change the Stabilize Control P from 4.5 to 4.2
Change the WP Navigation (WP Speed) from 5.0 to 3.0
Will let you know after the weekend of any changes!
Looking good.
Hi Willie. I've just finished assembling a slightly older 2012 model QU4D. Mine's got the arm end-motor mounts that slot into the carbon tubes, instead of the clamp-on fixtures like yours. I mounted my ESC's upright. I needed a bit of extra space between the body plates because I intentionally left the motor wires too long in case I wanted to change the wire layout in future.
I'm doing pre-flight checks and tests at the moment with my quad in a simple sling suspended from above. I'm just making double sure everything is straight, nothing is vibrating too much, nothing is loose, getting a feel for how much the hover throttle is - that type of thing.
I'd be interested to know what PID parameters you've come up with, if you've done any tuning.