Lateral bounce after making movements in Position Hold

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Lateral bounce after making movements in Position Hold

Postby SuperSharpShooter » Wed Apr 15, 2015 12:48 am

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?

-Glenn
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Re: Lateral bounce after making movements in Position Hold

Postby EX_TRUE » Wed Apr 15, 2015 4:13 am

My QUAD also has this problem, I have tried to tune PIDS but with no results

Best regards
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Re: Lateral bounce after making movements in Position Hold

Postby chschmid » Wed Apr 15, 2015 5:07 am

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Re: Lateral bounce after making movements in Position Hold

Postby SuperSharpShooter » Wed Apr 15, 2015 11:25 am

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?
-Glenn
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Re: Lateral bounce after making movements in Position Hold

Postby LPR » Wed Apr 15, 2015 1:46 pm

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
Last edited by LPR on Wed Apr 15, 2015 3:33 pm, edited 1 time in total.
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Re: Lateral bounce after making movements in Position Hold

Postby bn999 » Wed Apr 15, 2015 1:55 pm

The ratio of NAV_SPEED_P / NAV_SPEED_I needs to be increased. This could mean raising P or decreasing I or both.
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Re: Lateral bounce after making movements in Position Hold

Postby SuperSharpShooter » Thu Apr 16, 2015 12:39 am

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
-Glenn
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Re: Lateral bounce after making movements in Position Hold

Postby EX_TRUE » Thu Apr 16, 2015 7:26 am

Today I have found that the AQ would be uncontrolable if the HACC value larger than 3.0 on flying.
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