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Lateral bounce after making movements in Position Hold
Posted:
Wed Apr 15, 2015 12:48 am
by SuperSharpShooter
My y6 bounces back after I make any movements in Position Hold. I'm running PID, and the copter is otherwise flying very smoothly. Which parameters should I be looking to adjust to tighten this behaviour up? Is there a strategy for tuning these PIDs?
Re: Lateral bounce after making movements in Position Hold
Posted:
Wed Apr 15, 2015 4:13 am
by EX_TRUE
My QUAD also has this problem, I have tried to tune PIDS but with no results
Best regards
Re: Lateral bounce after making movements in Position Hold
Posted:
Wed Apr 15, 2015 5:07 am
by chschmid
You need to tune in your NAV PID's.
Cheers
Christof
Re: Lateral bounce after making movements in Position Hold
Posted:
Wed Apr 15, 2015 11:25 am
by SuperSharpShooter
Thanks, I'll see if I can get it sorted with that tomorrow. I'm guessing it would need an increase in Nav speed I, or would it be a decrease?
Re: Lateral bounce after making movements in Position Hold
Posted:
Wed Apr 15, 2015 1:46 pm
by LPR
Glenn
I found there is two ways to get an AQ to not overshoot a waypoint.
One is to increase the rate at which your multicopter tilts by decreasing Tilt Rate D and/or by increasing Tilt Angle P.
The second is to decrease how fast your multicopter tries to move by adjusting the Nav PIDs.
If you have vibration well under control I find the first method works best for hitting WPs and to handle wind.
Larry
Re: Lateral bounce after making movements in Position Hold
Posted:
Wed Apr 15, 2015 1:55 pm
by bn999
The ratio of NAV_SPEED_P / NAV_SPEED_I needs to be increased. This could mean raising P or decreasing I or both.
Re: Lateral bounce after making movements in Position Hold
Posted:
Thu Apr 16, 2015 12:39 am
by SuperSharpShooter
I've got it looking pretty good now. I ended up reducing NAV_SPEED_P from 10.5 -> 6 and NAV_SPEED_I from 0.0075 -> 0.006.
Thanks
Re: Lateral bounce after making movements in Position Hold
Posted:
Thu Apr 16, 2015 7:26 am
by EX_TRUE
Today I have found that the AQ would be uncontrolable if the HACC value larger than 3.0 on flying.