Help! Where is INS_MPU6K_FILTER? How to change it?

[dfidalgo]

Hi,

I';m flying a CRIUS AIO megapirate 2.7_R4 quad, and I need to change the INS_MPU6K_FILTER parameter. The problem is that I cannot find this parameter in the Advanced parameters / Parameters List on Mission Planner.
I dont know why, maybe I have done some mistake on the code before upload?

I have the usb port broken on the Crius board, so I dont want upload the code again.

Can I change the INS_MPU6K_FILTER parameter by CLI? How?

Thanks in advance,

Daniel

[rickp]

Not familiar with the megapirate code. I had a quick look in their repo and couldn';t see a tag for 2.7_R4 - but I suspect that it just wasn';t in that release of code. It only appeared in Arducopter in 2.9 I believe.

Someone more familiar with the megapirate code will no doubt be along shortly...

[Jumpy07]

This is not really relevant to MegaPirateNG unless you are running 2.9+ which is still in beta

[dfidalgo]

Thanks by the reply Rickp, I was suspecting the same.

Jumpy07,  I';m using a gimbal and the  servos are jittering a lot (digital servo). I read someone that had solve that problem lowering the LPF filter (I dont know what version of megapirate was in that case).

Anyway, after a lot of time tweaking the PID';s of my quad, I can say that his flying very well but not perfect, seems to have a strange beaviour sometimes , and I suspect that this beaviour is comes from some vibrations on MPU6050. Changing the value of this filter can solve my gimbal problems and the general flight beaviour, I think.

Regards,

Daniel

[Jumpy07]

The code in 2.9 + is a lot more effected by vibrations.. not an issue in 2.7 and 2.8..
Altering the filter will have no effect.. on 2.7 and 2.9... if you want to play with it.. you can alter it in Mission Planner (have a look at Arducopter thread for info),   if you are getting inconsistent flying.. then make sure you have a good bit of foam on the baro.

Problem with Servos for gimbal in 2.7 and 2.8 is that the freq is the same as the ESC outputs at 490hz .. so its picky on what servos you use.. personally I went through a few before I found ones that worked..
Also make sure you have set min and max pwm values in mission planner for gimbal servos along with angles..  some trial and error required.. but wrong values can also make gimbal jerky

The MegaPirateNG team are altering the code so that you can set the refresh rate separate for the gimbal servos.. but its not available yet..

[dfidalgo]

I guess the 2.8 have this parameter by default with 42hz, and version 2.9 the default is 20hz. My version is 2.7 and I starts to think that this filter isnt a option  in 2.7, because I dont find the parameter in the Mission Planner, but I dont know.

I flew many multiwiis and all of them flew nicely , better and more stable than this Megapirates/Arducopter, mainly in wind conditions. The quad gets very unstable when yawing.

Gimbal - The freq of RC11 & RC12 are 50hz. The analog servo that I have connected there, works nicely. The digital servo works better on the other channels, but stay constantly "shaking" / jittering a little bit, all the time. I';ll try a analog servo.


P.s.: sorry for my bad english...