AutoQuad Forum

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?

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

Best regards

You need to tune in your NAV PID's.

Cheers
Christof

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

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

The ratio of NAV_SPEED_P / NAV_SPEED_I needs to be increased. This could mean raising P or decreasing I or both.

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

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