Manual mode Flying Up & Down

[sandmen]

Which fw version?

[farooq_niaz]

6.7 b1400

[Max]

You should probably show us some updated pictures of your setup. Mount the board on standoffs with bolts -- I don't even understand how you're using tape to hold it down. Make sure all the wires connected to FC aren't transmitting vibes (don't stretch them tight, get rid of the heavy tape, leave a bit of loop before connector). Really balance your props (you said it didn't make much of a difference before -- what props are you using?) and motors. Reset PIDs to default then start over. Lower Tilt Rate D until MOT_PITCH and ROLL stay well within +/- 150 or so during a hover.

-Max

[farooq_niaz]

[Max]

Looking better! I'd get rid of the whole PCB and tape thing, mount the AQ right to the frame. The tape will definitely flex, especially with the whole GPS shield on top of the stack (catches wind, etc). The shield idea doesn't work because you'd also be shielding the Earth's magnetic field from the MAG sensors. Balancing props can be tricky, especially since a lot of balancers are out of balance themselves. But it's pretty vital for a smooth ride. Also check them for correct tracking.

Pretty sure baro has no influence in manual mode.

-Max

[farooq_niaz]

Ok
Got rid of the PCB underneath. Now AQ is mounted directly on frame with the help of standoffs. Vibration levels on ACCs improved a bit but strangely the Gyros are within +-0.1 range down from +-0.2 previously. Its night so I need to test it tomorrow in open to verify.

[LPR]

"An old question which I am to ask as I never got a clear answer. How much role baro plays in manual mode."

The barometer and GPS do not do anything in manual mode. In manual all altitude control is done by the pilot.

In Position/Altitude Hold the barometer does most of the work and the GPS does a little, slowly.

Larry

[farooq_niaz]

[farooq_niaz]

Ok
Flight test done.

Situation improved a lot

Submitted for further advices

[Max]

Hard to make out any detail in those graphs, but seems like a big improvement, congrats. Is it easier to keep a steady hover now?

Are MOT_PITCH and MOT_ROLL scales a bit different? Looks like PITCH is working harder in the graphs, but it's hard to tell for sure. I know I said +/-150 is a good range for those values in a mellow/no-wind hover, but +/-100 would be even better if you can get there. Looks like you're close already.

-Max