Out of Control when appear another accelero

[chestnut]

Dear all,

When I use AQ board and AQ code, in possion mode when I increase speed and after that I stop suddenly, so my copter have out of control and fall.
I think in this case, a horizontal accelero will appear and it's not real. Maybe that is the cause of the loss of control ?

So in AQ code, I can't find this situation. Can you help me?

[LPR]

Do a search for "divergence" on this forum and you will find that it's a common problem.

Some of the problems your copter may have is vibration, your motor mix is not a standard motor mix or you have adjusted the PIDs too far from defaults.

Larry

[chestnut]

Dear Larry,

I had decrease P angle factor and increase D angle factor. Therefore in strong wind, it's not good. And so i use sensor wind for adaptive this, automatic changes parameters. Now it's working very good. I will public some code on this after it's completely tested.

[bluuu]

try to changing only D and rather lowering, not incresing

[Jdmagoo]

[chestnut]

[LPR]

Chestnut

Decreasing the D value does help with divergence. The reason that divergence happens is that the copter is not tilting fast enough to get the copter to stop quickly. Lowering the D value will help.

Your copter will be able to use default PIDs if your vibrations are are low enough, your motor are the proper size and your frame is rigid enough.

There is good info on this forum on Divergence.

Larry