Greetings,
I'm still tinkering, and got a chance to go to the beach to try the GPS hold today. It was also the first chance I had to even fly the board outside. Of course it was cold (by FL standards), and windy (15-20 kts). You know it's always more windy at the beach, but it was worse than I had hoped for.
Overall, the board was well behaved. I had the main D term down to 5500, which was free from oscillation inside, but it was clearly too low for any wind.
Hold testing was a mixed bag. The position hold did a pretty good job, except for one time when the wind was just too much for it to hold against. I think in any reasonable amount of wind it would have held pretty well. Altitude hold basically didn't It just did the high freq pulsing and continuously dropped toward the ground.
Before I start messing with the parameters, Steve had mentioned making sure the throttle is at 700 in hover. I found a link to this thread where it's explained as well- viewtopic.php?f=27&t=539&start=10 Unfortunately, mine doesn't seem to work that way, or I'm doing something wrong.
My test quad is light, and in hover, LOG_MOT_THROTTLE is 300. The only factor throttle term I can find is CTRL_FACT_THRO, which is 0.7. Using the formula in the thread above, I calculated the correct throttle factor to be 0.3, and I entered, saved, and wrote to ROM. After that, I tried another logged hover flight. Takeoff took quite a bit more throttle stick, and I managed to get a little hover before the yaw went somewhat nuts. It was a bit off, so I added some yaw stick, and it started spinning in the direction I moved the stick. It took lots of stick to stop it, then it was spinning the other way. Fortunately, I was only a few feet off the floor, so I just eased the throttle and let it land.
After that attempt, I looked at the log, but what I saw was the same 300 value for LOG_MOT_THROTTLE. The fact that the value didn't change, coupled with the super yaw behavior makes me think I must have changed the wrong parameter. Did I do it wrong, or is this different on R76 now?
BTW, I noticed a parameter names MOT_HOV_THROT, which sounds like something that would set the throttle level for hover, but I wasn't brave enough to mess with it.
Thanks,
Rusty