Hi,
We are trying to set up an X650 frame with AutoQuad.
The frame is a quad-X configuration.
We're using ESC32, and the motors are 2217 (880Kv). The props are 13x4.
For the craft to hover, we have to hold throttle at about 40%.
The AQ is running firmware 6.6.1
This our first attempt to setup an AutoQuad - we have worked with other controllers in the past.
Initially, the copter was very unstable in manual mode.
After experimenting with the PIDs, we did get it better. It flies OK now in manual mode; but (just for the sake of comparison) not quite as good as a DJI Naza in manual mode.
We changed the following PIDs from their defaults:
Tilt Rate D 5200 (default was 7180)
Tilt Angle P 20 (default was 60)
Tilt Angle D 1300 (default was 1744)
While reviewing the logs, we noticed that the motor outputs are always clipped. See the included screenshot.
Is my understanding correct that this is something we still need to fix using the PIDs? Or could there be another cause for that?
If it is the PIDs, which parameter(s) should we focus on in this case?
The troubleshooting Attitude PID in the AQ online manual suggests "Put I and D terms to zero. Start tuning your P alone, and then move to I, and then to D.", but if we do that then it is completely uncontrollable. I get the impression it cannot fly at all with Tilt Rate D = 0.
We'd appreciate all the help we can get.
Kind regards,
Johan.