Default PIDs seem VERY high!?

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Re: Default PIDs seem VERY high!?

Postby aBUGSworstnightmare » Sat May 30, 2015 7:15 am

brat002 wrote:With new motors SunnySky v2216 650kv and default PIDs i have overheating again.

AND AGAIN: LOWER YOUR PIDs!
What's your CTRL_TLT_RTE_D?

Here are some example PIDs for a 450size quad. You may want to try them. If the motors get hot you will have to lower CTRL_TLT_RTE_D further.
Code: Select all
CTRL_MAN_YAW_RT                         160
CTRL_NAV_YAW_RT                         120
CTRL_PID_TYPE                           0
CTRL_TLT_ANG_D                        3500
CTRL_TLT_ANG_DM                         900
CTRL_TLT_ANG_F                        0.25
CTRL_TLT_ANG_I            0.00499999988824
CTRL_TLT_ANG_IM                         360
CTRL_TLT_ANG_OM                        1200
CTRL_TLT_ANG_P                         200
CTRL_TLT_ANG_PM                        1200
CTRL_TLT_RTE_D                       12000
CTRL_TLT_RTE_DM                        9999
CTRL_TLT_RTE_F                        0.25
CTRL_TLT_RTE_I                           0
CTRL_TLT_RTE_IM                        9999
CTRL_TLT_RTE_OM                        3000
CTRL_TLT_RTE_P                           0
CTRL_TLT_RTE_PM                        9999
CTRL_YAW_ANG_D                           0
CTRL_YAW_ANG_DM                           0
CTRL_YAW_ANG_F                           0
CTRL_YAW_ANG_I           1.99999994948e-05
CTRL_YAW_ANG_IM             0.0399999991059
CTRL_YAW_ANG_OM                        1.25
CTRL_YAW_ANG_P             0.0500000007451
CTRL_YAW_ANG_PM                        1.25
CTRL_YAW_RTE_D                         240
CTRL_YAW_RTE_DM                         386
CTRL_YAW_RTE_F                        0.25
CTRL_YAW_RTE_I              0.725000023842
CTRL_YAW_RTE_IM                         386
CTRL_YAW_RTE_OM                         870
CTRL_YAW_RTE_P                        1445
CTRL_YAW_RTE_PM                         386


ATTENTION: USE AT OWN RISK! Don't blame anybody if they will not not for your setup!
I don't 'calculate' PIDs! I start with a set which I think is low enough to not cause any issues and then increase the values during flight testing until I'm satisfied with the result. My craft may not be 'perfect' but it's in the eye of the beholder what's o.k.!
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Re: Default PIDs seem VERY high!?

Postby brat002 » Sat May 30, 2015 9:59 pm

Many thanks for your help.
I`m waiting for spare N4 expansion board for logs analysis from SD card. My current frame/motors/M4 is fully unflyable solution with all posible pids (and your too, because quadcopter has big oscilations). I want to find source of problem.
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Re: Default PIDs seem VERY high!?

Postby aBUGSworstnightmare » Sun May 31, 2015 7:11 am

brat002 wrote:My current frame/motors/M4 is fully unflyable solution with all posible pids (and your too, because quadcopter has big oscilations).

This is no out-of-the-box PID set; it's just a starting point for a quad of that size. What type of oscillations do you have (YAW?)?

brat002 wrote:I`m waiting for spare N4 expansion board for logs analysis from SD card.

Post a log from a short hovering. Post a pic showing (QGC log file analysis) of your IMU_ACCX/Y/Z.
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Re: Default PIDs seem VERY high!?

Postby Patnet » Sun May 31, 2015 6:24 pm

This works for me. See file. 450 size with 920 motors in dead cat. Very very slight wobble when holding, but you could tweak it out probably.

I don't know about too much heat, because I've usually crashed before I get to that point.
Attachments
revised_params.txt
(14.83 KiB) Downloaded 135 times
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Re: Default PIDs seem VERY high!?

Postby brat002 » Sat Jun 06, 2015 9:53 am

All problems was solved when N4 expansion board was replaced with new. Old N4 board was slightly scratched. May be it was source of problem.
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Re: Default PIDs seem VERY high!?

Postby aBUGSworstnightmare » Sat Jun 06, 2015 5:17 pm

brat002 wrote:All problems was solved when N4 expansion board was replaced with new. Old N4 board was slightly scratched. May be it was source of problem.

Hey Brat,
good news! Let us see your results. Maybe posting your parameters is a good idea if others may want to build an identical craft.
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Re: Default PIDs seem VERY high!?

Postby brat002 » Sat Jun 06, 2015 5:33 pm

Thanks.
I did change frame too. Crashes on TBS Discovery was little expensive for me.
Attachments
aq_m4_pids.png
new_PARAMS.txt
(14.82 KiB) Downloaded 168 times
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Re: Default PIDs seem VERY high!?

Postby brat002 » Sat Jun 06, 2015 5:40 pm

Here are photo https://lh6.googleusercontent.com/-40sV ... 15%2B-%2B1
AUW ~ 1000g with 2200 3s battery.
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Re: Default PIDs seem VERY high!?

Postby brat002 » Sat Jun 06, 2015 6:09 pm

PID`s still need some tunning. Quadcopter rapidly descend at 1-3 meters when I am switching to position hold mode. Could you tell me, how to avoid this?
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Re: Default PIDs seem VERY high!?

Postby aBUGSworstnightmare » Sat Jun 06, 2015 7:29 pm

brat002 wrote:PID`s still need some tunning. Quadcopter rapidly descend at 1-3 meters when I am switching to position hold mode. Could you tell me, how to avoid this?

Your throttle factor is wrong. Refer to http://autoquad.org/wiki/wiki/configuri ... -override/ for details on how to adjust it. Quad should stay at the same altitude when switching between manual and PH.

Please post parameter files instead of screenshots :!:
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