Please help tuning PosHold

[Cookiemonsta]

Hi,

I have the following problem. My hexa does somekind dance around the target position.


My PID values are as follows:

PID

MIXER

The lower rotors of the Y6 have 95% throttle

The video to this flight is:

(POSHOLD all the time with NO STICK-INPUT)

Any suggestions to get this thing flying perfectly are welcome

For analytics I also uploaded the log datas:

RATE

ACC

MAG

MOTORS

TEMP

[JussiH]

First of all, your Accels are showing what looks like a lot of vibrational noise. That will degrade the estimation quite dramatically. Actually you are close to saturating the X/Y accel, so you need to look into that and try and reduce vibrations. That is the first thing to do.

Z-mag is also quite noisy, even when craft is static. You probably need to go over the wiring and find/eliminate the cause of this noise.

Pls post a screenshot of GPS_HACC - if its higher than 1 you wont get a very good pos or alt hold. Ideal is < 0.5

Have you verified calibration results:

http://autoquad.org/wiki/wiki/autoquad- ... on-result/

[Cookiemonsta]