User Info

 
 
Welcome, Guest. Please login or register.
Have you missed your activation email?

Multi Rotor UK Shoutbox

Refresh History
  • Gandhi: Drop me a PM if you want....
    Today at 10:17:23
  • Gandhi: @DB if you are after an rcexplorer tri, I'm selling my mini
    Today at 10:17:14
  • DarkButterfly: i've bookmarked it, but may go after an RCExplorer tri
    July 23, 2016, 23:38:53
  • nub: i know on pre order :( think you'd be able to fit 1806's with 2 screws probably ::)
    July 23, 2016, 23:27:52
  • DarkButterfly: Can't push the button on it, out of stock
    July 23, 2016, 23:26:33
  • DarkButterfly: will the natal fpv3 work with 1806 motors?
    July 23, 2016, 23:24:39
  • DarkButterfly: ::)
    July 23, 2016, 23:23:34
  • nub: looks good still prefer the notalp fpv3 ::)
    July 23, 2016, 23:14:20
  • DarkButterfly: [link]
    July 23, 2016, 22:44:22
  • DarkButterfly: David has a little baby tricopter on his site for pre-order.
    July 23, 2016, 21:24:29
  • nub: either or will be a good choice, like the idea of the Armattan lifetime warranty
    July 23, 2016, 13:39:34
  • DarkButterfly: Sounds like a plan, I'll go with the mini tri and KK2 mounting kit
    July 23, 2016, 11:04:49
  • Hozza: DB I love Armattan frames, Chris the owner is very approachable and the warrenty is no BS either, ask Fletch  :laugh:
    July 23, 2016, 10:54:34
  • DarkButterfly: both the full sized and the mini tri
    July 23, 2016, 10:44:29
  • nub: the mini Tri?
    July 23, 2016, 01:16:43
  • DarkButterfly: so is an RCExlorer tri
    July 23, 2016, 00:00:31
  • nub: bit pricey
    July 22, 2016, 23:51:54
  • DarkButterfly: might push the button on this [link]
    July 22, 2016, 23:01:20
  • DarkButterfly: ::)
    July 22, 2016, 22:09:45
  • DarkButterfly: they are ball links, but they are useless when being flown hard, the flip wasn't even that stressful, it would have been if I did a hyper roll
    July 22, 2016, 22:09:34
  • DarrellW: @DG I have one thing to say...... ball links!!!
    July 22, 2016, 21:56:29
  • DarkButterfly: I'll be able to build a tricopter in my sleep lol
    July 22, 2016, 20:09:17
  • DarkButterfly: ::)
    July 22, 2016, 20:08:52
  • hoverfly: Groundhog day  D.B. ::)
    July 22, 2016, 19:47:31
  • DarkButterfly: Just had the most epic tricopter crash not caught on camera, both linkages on the yaw mech came off after doing a simple flip, it went into a massive spin and ploughed into long grass hard, front left arm snapped and the right arm motor mount is bent upwards
    July 22, 2016, 19:21:19
  • DarkButterfly: :laugh:
    July 22, 2016, 18:23:53
  • DarkButterfly: I need to rebuild the tricopter, snapped another front arm
    July 22, 2016, 18:23:36
  • Andy7: Yowch! PROPER prop-break this evening. Bits pinged up in the air and everything. Didn't bring any spares like a PLUM! Lesson learned.
    July 20, 2016, 21:43:41
  • Bad Raven: I have just put 0615-14 motors on a Nano QX and all I can say is............. BLIMEY!!
    July 20, 2016, 18:58:30
  • DarkButterfly: all done, ready to fly ~~
    July 20, 2016, 18:40:22
  • kilby: @DB again !!!
    July 20, 2016, 15:36:36
  • DarkButterfly: Tricopter rebuilding tomorrow ~~
    July 19, 2016, 21:54:33
  • nub: aye hot sweaty day, thunder storms tomorrow! :laugh:
    July 19, 2016, 21:32:29
  • Andy7: oo-er! Car said 35deg here in Oxford. Phew :sweating:
    July 19, 2016, 21:01:58
  • hoverfly: 32 in the shade and all my pumpkins have wilted.  (thats not a euphamism) the spuds are fine.. ::)
    July 19, 2016, 18:08:37
  • DarkButterfly: Got some stick time this afternoon ~~
    July 19, 2016, 16:52:46
  • Bad Raven: AND, I'm going to complain to Heathrow ATC, as all the early morning flights went easterly approach so no jets to hide my early morning quad session so was grounded.....BAH
    July 19, 2016, 15:29:16
  • Bad Raven: It certainly is, I flew from 10 to 12:00 and then have crawled into a dark corner!
    July 19, 2016, 15:27:48
  • nub: damn it's way to hot out there!
    July 19, 2016, 13:34:44
  • kilby: I'm told that it's a good yaw mechanism, though perhaps Phil could tell you more about it
    July 18, 2016, 11:24:02
  • DarkButterfly: Cheers Kilby ~~
    July 18, 2016, 11:09:25
  • kilby: @DB, [link]
    July 18, 2016, 10:54:27
  • kilby: I see David also got a modified version of Baseflight together to make their use on tricopters a bit better (believe it is the why who does the improved KK software)
    July 18, 2016, 10:52:27
  • kilby: DB, you could look at the armattan Tricopter frames too
    July 18, 2016, 10:51:12
  • DarrellW: @DB I've always thought David was the worlds best authority on Tricopters, however something interesting to know is that Simplecopter had a lot of input from him in his designs - probably explains why they are also really good. Not seen the new KK firmware yet, must have a look ::)
    July 18, 2016, 10:22:36
  • DarkButterfly: The KK2 v4 firmware is simply awesome, flies way better than the previous version
    July 18, 2016, 08:59:06
  • DarkButterfly: ::)
    July 18, 2016, 08:58:05
  • DarkButterfly: What David doesn't know about tricopters isn't worth knowing
    July 18, 2016, 08:57:51
  • DarrellW: @DB Davids Tricopters are ace, just a tad more expensive - one's on my hit list at some time in the future ::)
    July 18, 2016, 07:51:31
  • DarkButterfly: David's tricopters look ace and I will get one at some point
    July 17, 2016, 22:04:50

Theme Selection



Forum Default

Permanently

* Who's In The Chat Rooms

User in Chat:


Author Topic: Tuning PIDS Arducopter / MegaPirateNG 2.9.1 + , FAQ - Draft - Work in progress  (Read 54193 times)

0 Members and 2 Guests are viewing this topic.

Offline Jumpy07

  • Administrator
  • Trade Count: (0)
  • Hero Member
  • *****
  • Thank You
  • -Given: 5
  • -Receive: 266
  • Posts: 4460
  • Liked: 1023
  • Country: scotland
  • What goes up.. must come down..
Tuning PID`s
 
This is intended as a guide / reference to PID's in Arducopter 2.9.1 + , (Also applies to latest versions of MegaPirateNG), please feel free to comment / add information for others, will maintain /edit the FAQ as appropriate.
 
A proportional-integral-derivative controller (PID controller) is a generic control loop feedback mechanism (controller) widely used in industrial control systems. A PID controller calculates an "error" value as the difference between a measured process variable and a desired setpoint. The controller attempts to minimize the error by adjusting the process control inputs.

In specific multicopter terms this means the PID software will be taking data measured by the sensors on the flight controller (gyros / accelerometers etc) and comparing that against expected/desired values to alter the speed of the motors to compensate for any differences and maintain control.

The PID controller calculation (algorithm) involves three separate constant parameters, and is accordingly sometimes called three-term control: the proportional, the integral and derivative values, denoted P, I, and D. Heuristically, these values can be interpreted in terms of time:
 
  • P depends on the present error
  • I on the accumulation of past errors
  • D is a prediction of future errors, based on current rate of change
Depending on your flight controller there will be PID's associated with a number of flight modes. This FAQ focuses on Arducopter but the principles apply to other FC's that use PID tuning.
 
Current PID tuning parameters for Arducopter 2.9.1 + are shown below, as you can see certain PID's are only active in certain flight modes in Arducopter. You should always start tuning standard PID's first,  Rate Roll, Rate Pitch and Rate Yaw. Until you get these stable then there little point in moving on to the others.

The PID's in Arducopter are optimised for the 3DR/jDrones quad with 850 motors and 10" props. If you're using more powerful motors/props and are seeing bad flight behaviour in stabilize, start by turning down Rate Roll P in 25% steps first.

Unless you have a Multi with strange motor layout, Pitch and Roll are normally locked to each other, ie: change one the other matches the same settings.

From 2.9.1+ it is important that the FC is not hard mounted, the board should be mounted on foam, gel or isolation mount. Failure to do this will make the Multi hard to tune. Pay special attention to prop balancing and motor balance. If you are still having problems with Alt Hold or Loiter then try changing the setting for AHRS_MPU6K_FILTER in advanced parameters in Mission Planner to 20 or lower.


[ Guests cannot view attachments ]

Rate Roll
  • P - Too much rate P will oscillate quickly, and cause to copter to sound angry under stick input, bouncing rather than smoothly following your inputs. It will also shake more at full throttle and under hard turning. Not enough you will not feel like you have full control,  it will feel lazy and be very easy to over correct with your inputs, inputs will feel delayed.
  • I -  Too much rate_I will oscillate if you get high enough (a much slower oscillation than a rate_P shake).  But quite a long while before it oscillates it will have other detrimental effects on flight performance, like a sluggish feeling or a tendency to flip over on take-off. Not enough will cause the copter to get pushed by a constant wind, then it will fight back using just P.  It will not hold a very firm angle during forward flight and will need more correction. This will not be as smooth as it could be in either case.
  • D - Too much rate_D will cause fast oscillations, you will see a twitch forming then a fast buzzing oscillations. Not enough rate_D will result in you not being able to dial enough rate_P in, you will then suffer the effects of having rate_P too low
  • IMAX - The maximum possible build up of Roll
Rate Pitch
  • P - Too much rate P will oscillate quickly, and cause to copter to sound angry under stick input, bouncing rather than smoothly following your inputs. It will also shake more at full throttle and under hard turning. Not enough you will not feel like you have full control,  it will feel lazy and be very easy to over correct with your inputs, inputs will feel delayed.
  • I - Too much rate_I will oscillate if you get high enough (a much slower oscillation than a rate_P shake).  But quite a long while before it oscillates it will have other detrimental effects on flight performance, like a sluggish feeling or a tendency to flip over on take-off. Not enough will cause the copter to get pushed by a constant wind, then it will fight back using just P.  It will not hold a very firm angle during forward flight and will need more correction. This will not be as smooth as it could be in either case.
  • D - Too much rate_D will cause fast oscillations, you will see a twitch forming then a fast buzzing oscillations. Not enough rate_D will result in you not being able to dial enough rate_P in, you will then suffer the effects of having rate_P too low
  • IMAX - The maximum possible build up of Pitch

Rate Yaw
  • P - Should be set higher get more aggressive control and lower to slow reaction time.
  • I -
  • D -
  • IMAX - The maximum possible build up of Yaw


Stablize Roll
  • P - The desired rate at which the copter will return to level from roll.  If this is too high, it could cause an oscillation.
  • I - Acts like a trim to overcome poor copter balance. Defines time it takes to achieve max value. Higher = faster.
  • IMAX -
Stabilize Pitch
  • P - The desired rate at which the copter will return to level from pitch forward or back.  If this is too high, it could cause an oscillation.
  • I - Acts like a trim to overcome poor copter balance. Defines time it takes to achieve max value. Higher = faster.
  • IMAX -
Stabilize Yaw
  • P - The desired rate at which the copter will return to the target heading.  If this is too high, it could cause an oscillation.
  • I - Acts like a trim to overcome poor copter balance. Defines time it takes to achieve max value. Higher = faster.
  • IMAX -
Loiter Speed
  • P - Too low and Multi will overshoot position.
  • I - Overcomes wind to hold position (turn to zero in no wind conditions to tune P)
  • IMAX - Maximum speed to position.
Rate Loiter
  • P - The rate at which the copter will move towards the target point.  If this is not high enough, the copter will not be able to fight high winds and will drift.  If it's too high, it will oscillate around the target.
  • I - This will help the copter fight winds while having a zero error.  However use it with caution because it will also cause an oscillation if it's too high.
  • D
  • IMAX - The maximum possible build up of Loiter
Throttle Rate
  • P - amount of throttle output used to change the climb rate
  • I - compensates for error in achieving desired climb rate (zero by default.)
  • D
  • IMAX  - The maximum possible build up of throttle.
Altitude Hold
 
If you are having problems tuning ALT HOLD, make sure you have minimised all vibrations of the frame and mounted the FC on foam or gel etc. Also try setting AHRS_MPU6K_FILTER to 20 in advanced params in Mission Planner
  • P - Used to convert altitude error in centimeters to a desired climb_rate in centimeter/second. Higher = faster climb rate
  • I - Used to account for a copter having trouble holding altitude, usually due to a low voltage battery.
  • IMAX - Amount of throttle we can adjust  (units: 1000 = 100%)
Crosstrack Correction
  • Gain - Cross track correction is intended to guide the Multi to an optimal path, as opposed to simply pointing towards the desired waypoint. This is desired when wind blows the Multi off course. It can also be useful to keep a Multi on a certain line between waypoints for photography. Gain is the amount of multiplied force used to keep the Multi on the original track.
Nav WP
  • P - we use our speed (4m/s as defined m/s) offset as the error. high numbers = more pitch to achieve the desired speed
  • I - Allows ramp up against the wind force. Higher value ramps faster.
  • D -
  • IMAX - Amount of Pitch we can add to overcome wind
  • m/s - Maximum Speed in metres per second between waypoints.
Throttle Accel
  • P - Tune Throttle Accel P and I terms but try to keep P about 1/2 the size of I
  • I - Should be twice size of P
  • D -
  • IMAX -
Tips
"My copter slowly rises or descends when I enable Alt-Hold or Loiter" .
The throttle deadband when in alt-hold or loiter mode is from 40% ~ 60% of the throttle.  If you have an overpowered or underpowered copter then when in stabilize mode the throttle required to maintain a hover may be outside this range.  So when you engage alt-hold or loiter your throttle is outside of the deadband and arducopter thinks you want to climb or descend.  The simple solution is to move your throttle back to center as you engage alt-hold.  A permanent solution is to modify the THR_MID parameter through the mission planner's Adv Parameter List screen.  If your copter hover at 40% of throttle stick when in stabilize mode, make THR_MID = 400.  If it hovers at 60% of throttle make the parameter 600, etc.
 
 
« Last Edit: February 14, 2013, 14:26:28 by Jumpy07 »


BNUC-S Pilot with PFAW.
UAQ Instructor / Flight Assessor

"All that is necessary for the triumph of evil is that good men do nothing"

Offline Jumpy07

  • Administrator
  • Trade Count: (0)
  • Hero Member
  • *****
  • Thank You
  • -Given: 5
  • -Receive: 266
  • Posts: 4460
  • Liked: 1023
  • Country: scotland
  • What goes up.. must come down..
Re: Tuning PIDS Arducopter - FAQ - Draft - Work in progress
« Reply #1 on: February 13, 2013, 12:12:44 »
Reserved
BNUC-S Pilot with PFAW.
UAQ Instructor / Flight Assessor

"All that is necessary for the triumph of evil is that good men do nothing"

Offline icedfusion

  • Site Sponsor
  • Trade Count: (0)
  • Full Member
  • *****
  • Thank You
  • -Given: 0
  • -Receive: 1
  • Posts: 211
  • Liked: 10
  • Country: gb
Re: Tuning PIDS Arducopter - FAQ - Draft - Work in progress
« Reply #2 on: February 13, 2013, 19:29:31 »
Excellent post!

ice.

Offline Leebo914

  • Trade Count: (0)
  • Newbie
  • *
  • Thank You
  • -Given: 0
  • -Receive: 0
  • Posts: 29
  • Liked: 0
  • Country: gb
Re: Tuning PIDS Arducopter - FAQ - Draft - Work in progress
« Reply #3 on: February 13, 2013, 23:57:24 »
Awesome, that is a huge help, thank you ~~

Online Gaza07

  • Administrator
  • Trade Count: (0)
  • Hero Member
  • *****
  • Thank You
  • -Given: 320
  • -Receive: 226
  • Posts: 4677
  • Liked: 741
  • Country: gb
    • Multi Rotor UK
Re: Tuning PIDS Arducopter - FAQ - Draft - Work in progress
« Reply #4 on: February 13, 2013, 23:59:29 »
Excellent work Craig  :bravo:

Offline Marty McFly

  • Chat Moderator
  • Trade Count: (0)
  • Sr. Member
  • *****
  • Thank You
  • -Given: 16
  • -Receive: 61
  • Posts: 940
  • Liked: 272
  • Country: scotland
Re: Tuning PIDS Arducopter - FAQ - Draft - Work in progress
« Reply #5 on: February 14, 2013, 10:04:04 »
   :thankyou:   once again an excellent piece of work Craig,thank you,Marty. :scotland:
JR XG8 and JR Ninja

Offline Mslater

  • Trade Count: (0)
  • Jr. Member
  • **
  • Thank You
  • -Given: 1
  • -Receive: 2
  • Posts: 98
  • Liked: 15
  • Country: england
    • Revolution Models
Tis good Craig, one change to note is that Stab I does nothing now - should be set to Zero in all Stab parameters.
Duvet - The quickest way to say Duck Down !

Offline Polleke1949

  • Trade Count: (0)
  • Jr. Member
  • **
  • Thank You
  • -Given: 1
  • -Receive: 0
  • Posts: 54
  • Liked: 0
  • Country: nl
Very Good Craig.
Thanx a lot  ~~
Got a question though.
What's the difference in MegaPirateNG 2.9.1 and Arducopter 2.9.1  :confused: ?
« Last Edit: February 14, 2013, 20:18:45 by Polleke1949 »

Offline Jumpy07

  • Administrator
  • Trade Count: (0)
  • Hero Member
  • *****
  • Thank You
  • -Given: 5
  • -Receive: 266
  • Posts: 4460
  • Liked: 1023
  • Country: scotland
  • What goes up.. must come down..
Very Good Craig.
Thanx a lot  ~~
Got a question though.
What's the difference in MegaPirateNG 2.9.1 and Arducopter 2.9.1  :confused: ?
Arducopter is for genuine APM board and clones such as APM 2.5 and Arduflyer 2.5 (2.9.1 has been released)
MegaPirate is for boards such as Crius AIOP and Blackvortex etc (2.9 is in beta)
 
 
BNUC-S Pilot with PFAW.
UAQ Instructor / Flight Assessor

"All that is necessary for the triumph of evil is that good men do nothing"

Offline Polleke1949

  • Trade Count: (0)
  • Jr. Member
  • **
  • Thank You
  • -Given: 1
  • -Receive: 0
  • Posts: 54
  • Liked: 0
  • Country: nl
Arducopter is for genuine APM board and clones such as APM 2.5 and Arduflyer 2.5 (2.9.1 has been released)
MegaPirate is for boards such as Crius AIOP and Blackvortex etc (2.9 is in beta)

I have a Crius AIOPro V1.1, so I will have to wait for the 2.9 version......... :waiting:
Any idea when it's coming?

Offline Jumpy07

  • Administrator
  • Trade Count: (0)
  • Hero Member
  • *****
  • Thank You
  • -Given: 5
  • -Receive: 266
  • Posts: 4460
  • Liked: 1023
  • Country: scotland
  • What goes up.. must come down..
I have a Crius AIOPro V1.1, so I will have to wait for the 2.9 version......... :waiting:
Any idea when it's coming?
Its in Beta at the  moment.. but has a few bugs.. dont think it will be that long until its released.
BNUC-S Pilot with PFAW.
UAQ Instructor / Flight Assessor

"All that is necessary for the triumph of evil is that good men do nothing"

Offline lakis21

  • Trade Count: (0)
  • Jr. Member
  • **
  • Thank You
  • -Given: 3
  • -Receive: 5
  • Posts: 49
  • Liked: 10
  • Country: gr
Thank you!!! Another great thread from you! Really helpful!  ~

Offline fruitsalad

  • Site Sponsor
  • Trade Count: (0)
  • Sr. Member
  • *****
  • Thank You
  • -Given: 2
  • -Receive: 60
  • Posts: 907
  • Liked: 257
  • Country: gb
  • pilot error nah not my fault ground got in the way
im in process of tuning..
this guide is very helpful and well explained.
thanks jumpy07..
dont grow up,just buy bigger toys!!!!

Offline robshaw

  • Site Sponsor
  • Trade Count: (0)
  • Hero Member
  • *****
  • Thank You
  • -Given: 196
  • -Receive: 62
  • Posts: 1296
  • Liked: 310
  • Country: gb
This post has just saved my bacon.  New transmitter caused my quad to fly terribly.  As it was tuned by somebody else for my old DX6i I was a newbie. Now flying happily tuned with my new 9xr.  Cheers Jumpy07  :beer2:
Tunrnigy Talon Tri, TBS Discovery, TBS Discovery PRO, Spnky 250 Mini, EZUHF, EZOSD

Offline Loiner

  • Site Sponsor
  • Trade Count: (0)
  • Newbie
  • *****
  • Thank You
  • -Given: 0
  • -Receive: 0
  • Posts: 27
  • Liked: 0
  • Country: gb
Great description of a misunderstood subject, in geeks terms " The effects of the parameters of Differential equations in the time domain"
That's as it may or may not be, my problem is much more nobish. I can not find any mention of AHRS_MPU6K_FILTER in advanced parameters of Mission Planner. I used the LPF parameters in MultiWii and found them very effective so would like the opportunity of trying same in ArduCopter 2.9.1. Reason being my rig has a tendency to climb quite quickly when "engaging" Loiter. Not necessarily all due to vibration as I have not as yet done very much tweaking but I would like to try and eliminate as many variables as possible before diving in. Yes both the RC Timer clone APM 2.5 and the base on which it is mounted are resiliently mounted via rubber grommets both above and below.

Regards

John

PS
 ~~
Found the MPU6000 LPF setting its in Advanced params The variable name is INS_MPU6K_FILTER, should look harder before asking for help! :help: Will try and do better in future  :laugh: Now I can give the frame another try at Loiter. I do note that the default value suggested for on ArduCopter is 42Hz, as any one tried both 20 and 42 to get a comparison?

« Last Edit: March 11, 2013, 16:23:31 by Loiner »

Offline Jumpy07

  • Administrator
  • Trade Count: (0)
  • Hero Member
  • *****
  • Thank You
  • -Given: 5
  • -Receive: 266
  • Posts: 4460
  • Liked: 1023
  • Country: scotland
  • What goes up.. must come down..
I don't have MPNG 2.9 loaded.. still on 2.8... however the screen is the same as Arducopter on my APM.. see below for details of where it is on Mission Planner.. as you can see mine is currently set at 20... would do this before you do and PID tuning..
 
[ Guests cannot view attachments ]
 
Would also make sure you have tuned as much vibration out as you can.. FC mount and prop balancing etc
 
Once you are happy with above.. then look at the PIDS below.. start with Alt Hold P>
 
Throttle Rate
  • P - amount of throttle output used to change the climb rate
  • I - compensates for error in achieving desired climb rate (zero by default.)
  • D
  • IMAX  - The maximum possible build up of throttle.
Altitude Hold
 
  • P - Used to convert altitude error in centimeters to a desired climb_rate in centimeter/second. Higher = faster climb rate
  • I - Used to account for a copter having trouble holding altitude, usually due to a low voltage battery.
  • IMAX - Amount of throttle we can adjust  (units: 1000 = 100%)
« Last Edit: March 11, 2013, 10:43:27 by Jumpy07 »
BNUC-S Pilot with PFAW.
UAQ Instructor / Flight Assessor

"All that is necessary for the triumph of evil is that good men do nothing"

Offline bulesz

  • Trade Count: (0)
  • Full Member
  • ***
  • Thank You
  • -Given: 21
  • -Receive: 1
  • Posts: 115
  • Liked: 15
  • Country: hu
sorry for my noob question, but I'm a scared rookie so want to be 100% sure before the props chop off my hands... ;)

so I could use this guide with my MPNG 2.8 as well?

Offline Jumpy07

  • Administrator
  • Trade Count: (0)
  • Hero Member
  • *****
  • Thank You
  • -Given: 5
  • -Receive: 266
  • Posts: 4460
  • Liked: 1023
  • Country: scotland
  • What goes up.. must come down..
Yes pretty much the same..
BNUC-S Pilot with PFAW.
UAQ Instructor / Flight Assessor

"All that is necessary for the triumph of evil is that good men do nothing"

Offline bulesz

  • Trade Count: (0)
  • Full Member
  • ***
  • Thank You
  • -Given: 21
  • -Receive: 1
  • Posts: 115
  • Liked: 15
  • Country: hu
naice thanks, good to know!

Offline DarrenG

  • Site Sponsor
  • Trade Count: (1)
  • Sr. Member
  • *****
  • Thank You
  • -Given: 6
  • -Receive: 32
  • Posts: 524
  • Liked: 132
  • Country: gb
    • MacFixer.co.uk
I need to look at tuning now I've got my quad built and flying. It all seems pretty good on stock settings but that's because I know no better I suspect!

Have been putting it off as I want to balance my props first, and can't do that as RoyalFail have lost the parcel containing my Du-Bro balancer, ass-hats. Shipped 1st Class recorded two weeks ago. Bad enough that they've lost it but the Du-Bro's are hard to find in stock and the retailer is now out. Not happy  :angry:

I take it there is little point in tuning until the props have been properly balanced?
Darren Griffin
@DarrenGriffin, @TheMacFixer & @PocketGPSWorld
Sky-Hero Little Spyder with Naza V2, Arducopter Quad with Pixhawk and Emax 250 with Naze32

Offline rickp

  • Site Sponsor
  • Trade Count: (0)
  • Sr. Member
  • *****
  • Thank You
  • -Given: 21
  • -Receive: 33
  • Posts: 471
  • Liked: 203
  • Country: gb
I take it there is little point in tuning until the props have been properly balanced?

Yeah, you'd be better off waiting I think.

Offline Falcon26

  • Site Sponsor
  • Trade Count: (0)
  • Newbie
  • *****
  • Thank You
  • -Given: 1
  • -Receive: 1
  • Posts: 18
  • Liked: 10
  • Country: us
Thank you Craig very Helpful it may take a while for me to soak all this in but with your help its going a lot easier great work :thankyou:

Offline Falcon26

  • Site Sponsor
  • Trade Count: (0)
  • Newbie
  • *****
  • Thank You
  • -Given: 1
  • -Receive: 1
  • Posts: 18
  • Liked: 10
  • Country: us
Question one of the many I still have is there a need to link roll and pitch in the PID with a Tricopter IE:one rotor for pitch and two rotor's for roll ?  :shrug:

Offline ericb

  • Site Sponsor
  • Trade Count: (0)
  • Sr. Member
  • *****
  • Thank You
  • -Given: 2
  • -Receive: 15
  • Posts: 316
  • Liked: 119
  • Country: scotland
  • UP ,UP AND OHHHHHH S***
This is a fantastic guide to understanding what is going on and the way to go when correcting any issues  :beer2:

Eric
Alien homemade , 330 homemade wonderful little thing oh and the 250 mini that is wonderful

Offline orfordness

  • Site Sponsor
  • Trade Count: (1)
  • Sr. Member
  • *****
  • Thank You
  • -Given: 19
  • -Receive: 39
  • Posts: 551
  • Liked: 113
  • Country: gb
Quote
Tips
"My copter slowly rises or descends when I enable Alt-Hold or Loiter" .
The throttle deadband when in alt-hold or loiter mode is from 40% ~ 60% of the throttle.  If you have an overpowered or underpowered copter then when in stabilize mode the throttle required to maintain a hover may be outside this range.  So when you engage alt-hold or loiter your throttle is outside of the deadband and arducopter thinks you want to climb or descend.  The simple solution is to move your throttle back to center as you engage alt-hold.  A permanent solution is to modify the THR_MID parameter through the mission planner's Adv Parameter List screen.  If your copter hover at 40% of throttle stick when in stabilize mode, make THR_MID = 400.  If it hovers at 60% of throttle make the parameter 600, etc.

So being a bit slow today, I've got this exact situation on my quad, when in Loiter or Alt Hold the quad slowly climbs, do I need to increase the the THR_MID or decrease it?

At present its set at 500

Thanks
Steve
Tarot 680 Pro Hex
450 (Flamewheel clone) x 2
Hubsan X4
CS022 Mini Quad

Offline robshaw

  • Site Sponsor
  • Trade Count: (0)
  • Hero Member
  • *****
  • Thank You
  • -Given: 196
  • -Receive: 62
  • Posts: 1296
  • Liked: 310
  • Country: gb
Decrease it. Take about 50 off and give it a try.
Tunrnigy Talon Tri, TBS Discovery, TBS Discovery PRO, Spnky 250 Mini, EZUHF, EZOSD

Offline orfordness

  • Site Sponsor
  • Trade Count: (1)
  • Sr. Member
  • *****
  • Thank You
  • -Given: 19
  • -Receive: 39
  • Posts: 551
  • Liked: 113
  • Country: gb
Thanks Rob, that's what I've done, ill let you know how I get on!

Steve
Tarot 680 Pro Hex
450 (Flamewheel clone) x 2
Hubsan X4
CS022 Mini Quad

Offline hexadec

  • Trade Count: (0)
  • Newbie
  • *
  • Thank You
  • -Given: 2
  • -Receive: 1
  • Posts: 5
  • Liked: 0
  • Country: gb
This is just the info I've been looking for...all in one place!

Much appreciated. ~~

Offline TNT

  • Trade Count: (0)
  • Newbie
  • *
  • Thank You
  • -Given: 2
  • -Receive: 0
  • Posts: 1
  • Liked: 0
  • Country: us
Excellent post. This is what I'm looking for. I just found gold hihihihiiiii.
Simple explain but say it all. Thanks

Offline jacknet

  • Trade Count: (0)
  • Newbie
  • *
  • Thank You
  • -Given: 0
  • -Receive: 0
  • Posts: 7
  • Liked: 0
  • Country: us
Not sure of thread for this ? so please correct me. I am trying to load MPNG on my Crius and as per Jumpy's Guide my first compile came up with the error: 'AP I16' does not have a type. The line of code reads: AP_Int16          format version; This is in the Arduino Parameters.h file. Any ideas?