Yaw tunning issues and tips

[afernan]

Yaw is working with deffault PIDs but is far to be perfect (at least for me)

In my quad with RCT5010 & 15x5 props I have several issues:
1.- has a lazy response to the stick
2.- much more reactive rotating CCW than CW
3.- moves out lateraly when yawing. Stick to left (CCW), copter laterally to right and vv.

In this video you can see all three issues, starting from PH and pushing yaw pulses left/right:


To improve the lazy response I´v increased some PID´s Yaw rate P = 500, and angle P = 0.075 and improves a bit.
Issues 2 & 3 are linked and I think they are a consequence of vertical missaligneent of the motors. Somehow they are aligned in favor of CCW rotation, so it can explain that rotates easyer in CCW and also moves laterally since lateral component is not zero when yawing. But I find very difficult to get a pefect motor vertical alignement.

Any experience / sugestions is wellcome.

Angel

[Kisssys]

Hi afernan

Look at your motor output and see if you have one pair of motors running much more power than the other. If you do, adjust the angles so that all four motors average about the same power level in a level hover.

Those props have low torque and you have to have the machine neutrally stable for balanced yaw.

[afernan]

Thanks Steve: I'll check that. I think is a good indicator of the vertical missalignement.

Angel

[epyonxero]

[LPR]

Angel

When I first started tuning my octo I changed a number of PIDs because I though my large high powered octo would not perform well with default settings. After many crashes I returned to defaults except for rate D which I lowered to 5800. I cannot believe how well it performs. I found that yaw is very much dependent on other PID settings.
If your copter will not fly well with defaults I found it's caused by too much vibration. Here's the octo doing a mission.

http://www.youtube.com/watch?feature=pl ... 7im1ExXEug

Larry