Interpreting the LOG_MOT_YAW

Info and discussion about the original AQ v6 flight controller

Interpreting the LOG_MOT_YAW

Postby Trnquill » Sat Jan 11, 2014 7:34 pm

Looking at my LOG_MOT_YAW plot I can see the average value swings around -30. What conclusions should I draw from the figure? Is AutoQuad compensating left or right? Are my motors tilted to left or right, when the YAW average is negative?

Could this be something to include in the wiki? Or is it allready there?
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Re: Interpreting the LOG_MOT_YAW

Postby Max » Sat Jan 11, 2014 8:42 pm

Yea it should avg around zero, ideally. Sometimes it's hard to get rid of all imbalance entirely, but I'd try for better than +/-30. Negative yaw is CW prop rotation, so that means the CW motors are working a bit harder to compensate for whatever is trying to yaw the craft in the other direction. You should be able to confirm this by looking at the MOT_MOTORx graphs also. Cause could be a number of things... tilted motor(s), some variation in the props/motors, or some imbalance. The same applies for MOT_PITCH and ROLL, they should avg. around zero.

-Max
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