Yaw doesn’t lock [NOT RESOLVED]

[Carlos]

After a few months of hard work in the quad DIY world, and a heavy crash by the way, we started our second one, three months ago.
W e have a quad with the following characteristics:
X 4
Motors: MT3510-600KV
Distance opposed motors: 820 mm
Propeller: XOAR 14x6
Ready to Fly Weight: 3.9 Kg - including 2 batteries 4S 6000 mA/h
Arms: CF 25mm dia.

ESC
Fitted on arms to improve cooling
HW ver:ESC32v2 - Shielded CAN bus
FW ver: 2.1.0

AQ
HW ver: 6 rev1 DIMU
FW ver: 7.1 - EXPR rev449 b1852
We have been changing pids values and we got a stable but rotating quad. We increased the CRTL_MAN_YAW_RT to 120 and it started to rotate more slowly, although we hadn’t any yaw control. The yaw even locked twice randomly and it was very nice and easy to fly.



The point is that it was useless since we hadn’t yaw control.
So we started to play with the limit pids. We increased CTRL_YAW_RTE_F to 0.7 and CTRL_YAW_RATE_P . We decreased CTRL_TILT_ANG_P and started to have yaw control but a little bit lazy, motors started to heat and the quad attitude was nervous and not so easy to fly. We noticed a greater MOT_YAW signal (50% ) looking at the logs. But the big problem is that the yaw still doesn`t lock and we find it too risky to rise the limit pids much more.

Parameters
CONFIG_VERSION 128
CTRL_DBAND_THRO 40
CTRL_DEAD_BAND 40
CTRL_FACT_PITC 0.0500000007451
CTRL_FACT_ROLL 0.0500000007451
CTRL_FACT_THRO 0.600000023842
CTRL_MAN_YAW_RT 120
CTRL_MAX 1446
CTRL_MIN_THROT 20
CTRL_NAV_YAW_RT 60
CTRL_PID_TYPE 0
CTRL_TLT_ANG_D 5000
CTRL_TLT_ANG_DM 725
CTRL_TLT_ANG_F 0.25
CTRL_TLT_ANG_I 0.00240000011399
CTRL_TLT_ANG_IM 360
CTRL_TLT_ANG_OM 1200
CTRL_TLT_ANG_P 80
CTRL_TLT_ANG_PM 725
CTRL_TLT_RTE_D 34000
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 1200
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 0.000199999994948
CTRL_YAW_ANG_IM 0.0399999991059
CTRL_YAW_ANG_OM 1.25
CTRL_YAW_ANG_P 0.0299999993294
CTRL_YAW_ANG_PM 1.25
CTRL_YAW_RTE_D 4000
CTRL_YAW_RTE_DM 386
CTRL_YAW_RTE_F 0.699999988079
CTRL_YAW_RTE_I 0.00200000009499
CTRL_YAW_RTE_IM 386
CTRL_YAW_RTE_OM 870
CTRL_YAW_RTE_P 1800
CTRL_YAW_RTE_PM 500
GMBL_NTRL_PITCH 1575
GMBL_NTRL_ROLL 1442
GMBL_PITCH_PORT 0
GMBL_PSTHR_CHAN 0
GMBL_PSTHR_PORT 0
GMBL_PWM_FREQ 200
GMBL_PWM_MAX_PT 2250
GMBL_PWM_MAX_RL 2250
GMBL_PWM_MIN_PT 750
GMBL_PWM_MIN_RL 750
GMBL_ROLL_EXPO 0
GMBL_ROLL_PORT 0
GMBL_SCAL_PITCH 0.0109890112653
GMBL_SCAL_ROLL 0.0142857143655
GMBL_SLEW_RATE 0.00499999988824
GMBL_TILT_PORT 0
GMBL_TRIG_CH_NEU 0
GMBL_TRIG_DIST 0
GMBL_TRIG_ON_PWM 2100
GMBL_TRIG_ON_TIM 1000
GMBL_TRIG_PORT 0
GMBL_TRIG_TIME 0
IMU_ACC_ALGN_XY 0
IMU_ACC_ALGN_XZ 0
IMU_ACC_ALGN_YX 0
IMU_ACC_ALGN_YZ 0
IMU_ACC_ALGN_ZX 0
IMU_ACC_ALGN_ZY 0
IMU_ACC_BIAS1_X 0
IMU_ACC_BIAS1_Y 0
IMU_ACC_BIAS1_Z 0
IMU_ACC_BIAS2_X 0
IMU_ACC_BIAS2_Y 0
IMU_ACC_BIAS2_Z 0
IMU_ACC_BIAS3_X 0
IMU_ACC_BIAS3_Y 0
IMU_ACC_BIAS3_Z 0
IMU_ACC_BIAS_X -0.02388215065
IMU_ACC_BIAS_Y 0.156191796064
IMU_ACC_BIAS_Z 0.143137902021
IMU_ACC_SCAL1_X 0
IMU_ACC_SCAL1_Y 0
IMU_ACC_SCAL1_Z 0
IMU_ACC_SCAL2_X 0
IMU_ACC_SCAL2_Y 0
IMU_ACC_SCAL2_Z 0
IMU_ACC_SCAL3_X 0
IMU_ACC_SCAL3_Y 0
IMU_ACC_SCAL3_Z 0
IMU_ACC_SCAL_X 1
IMU_ACC_SCAL_Y 1
IMU_ACC_SCAL_Z 1
IMU_FLIP 0
IMU_GYO_ALGN_XY 0
IMU_GYO_ALGN_XZ 0
IMU_GYO_ALGN_YX 0
IMU_GYO_ALGN_YZ 0
IMU_GYO_ALGN_ZX 0
IMU_GYO_ALGN_ZY 0
IMU_GYO_BIAS1_X 0
IMU_GYO_BIAS1_Y 0
IMU_GYO_BIAS1_Z 0
IMU_GYO_BIAS2_X 0
IMU_GYO_BIAS2_Y 0
IMU_GYO_BIAS2_Z 0
IMU_GYO_BIAS3_X 0
IMU_GYO_BIAS3_Y 0
IMU_GYO_BIAS3_Z 0
IMU_GYO_BIAS_X -0.0423042885959
IMU_GYO_BIAS_Y -0.0104529103264
IMU_GYO_BIAS_Z 0.0106792803854
IMU_GYO_SCAL_X 1
IMU_GYO_SCAL_Y 1
IMU_GYO_SCAL_Z 1
IMU_MAG_ALGN_XY 0
IMU_MAG_ALGN_XZ 0
IMU_MAG_ALGN_YX 0
IMU_MAG_ALGN_YZ 0
IMU_MAG_ALGN_ZX 0
IMU_MAG_ALGN_ZY 0
IMU_MAG_BIAS1_X 0
IMU_MAG_BIAS1_Y 0
IMU_MAG_BIAS1_Z 0
IMU_MAG_BIAS2_X 0
IMU_MAG_BIAS2_Y 0
IMU_MAG_BIAS2_Z 0
IMU_MAG_BIAS3_X 0
IMU_MAG_BIAS3_Y 0
IMU_MAG_BIAS3_Z 0
IMU_MAG_BIAS_X 0
IMU_MAG_BIAS_Y 0
IMU_MAG_BIAS_Z 0
IMU_MAG_DECL 1.05999994278
IMU_MAG_INCL -55.4166641235
IMU_MAG_SCAL1_X 0
IMU_MAG_SCAL1_Y 0
IMU_MAG_SCAL1_Z 0
IMU_MAG_SCAL2_X 0
IMU_MAG_SCAL2_Y 0
IMU_MAG_SCAL2_Z 0
IMU_MAG_SCAL3_X 0
IMU_MAG_SCAL3_Y 0
IMU_MAG_SCAL3_Z 0
IMU_MAG_SCAL_X 1
IMU_MAG_SCAL_Y 1
IMU_MAG_SCAL_Z 1
IMU_PRESS_SENSE 0
IMU_ROT 0
LIC_KEY1 0
LIC_KEY2 0
LIC_KEY3 0
MOT_ARM 975
MOT_CANH 0
MOT_CANL 15
MOT_FRAME 6.16481641201e-39
MOT_MAX 1950
MOT_MIN 1000
MOT_PWRD_01_P 100
MOT_PWRD_01_R 100
MOT_PWRD_01_T 100
MOT_PWRD_01_Y -100
MOT_PWRD_02_P 100
MOT_PWRD_02_R -100
MOT_PWRD_02_T 100
MOT_PWRD_02_Y 100
MOT_PWRD_03_P -100
MOT_PWRD_03_R -100
MOT_PWRD_03_T 100
MOT_PWRD_03_Y -100
MOT_PWRD_04_P -100
MOT_PWRD_04_R 100
MOT_PWRD_04_T 100
MOT_PWRD_04_Y 100
MOT_PWRD_05_P 0
MOT_PWRD_05_R 0
MOT_PWRD_05_T 0
MOT_PWRD_05_Y 0
MOT_PWRD_06_P 0
MOT_PWRD_06_R 0
MOT_PWRD_06_T 0
MOT_PWRD_06_Y 0
MOT_PWRD_07_P 0
MOT_PWRD_07_R 0
MOT_PWRD_07_T 0
MOT_PWRD_07_Y 0
MOT_PWRD_08_P 0
MOT_PWRD_08_R 0
MOT_PWRD_08_T 0
MOT_PWRD_08_Y 0
MOT_PWRD_09_P 0
MOT_PWRD_09_R 0
MOT_PWRD_09_T 0
MOT_PWRD_09_Y 0
MOT_PWRD_10_P 0
MOT_PWRD_10_R 0
MOT_PWRD_10_T 0
MOT_PWRD_10_Y 0
MOT_PWRD_11_P 0
MOT_PWRD_11_R 0
MOT_PWRD_11_T 0
MOT_PWRD_11_Y 0
MOT_PWRD_12_P 0
MOT_PWRD_12_R 0
MOT_PWRD_12_T 0
MOT_PWRD_12_Y 0
MOT_PWRD_13_P 0
MOT_PWRD_13_R 0
MOT_PWRD_13_T 0
MOT_PWRD_13_Y 0
MOT_PWRD_14_P 0
MOT_PWRD_14_R 0
MOT_PWRD_14_T 0
MOT_PWRD_14_Y 0
MOT_PWRD_15_P 0
MOT_PWRD_15_R 0
MOT_PWRD_15_T 0
MOT_PWRD_15_Y 0
MOT_PWRD_16_P 0
MOT_PWRD_16_R 0
MOT_PWRD_16_T 0
MOT_PWRD_16_Y 0
MOT_START 1425
MOT_VALUE2T_A1 0
MOT_VALUE2T_A2 0
MOT_VALUE_SCAL 0
NAV_ALT_POS_I 0
NAV_ALT_POS_IM 0
NAV_ALT_POS_OM 2.5
NAV_ALT_POS_P 0.20000000298
NAV_ALT_POS_PM 2.5
NAV_ALT_SPED_I 2.84999990463
NAV_ALT_SPED_IM 700
NAV_ALT_SPED_OM 700
NAV_ALT_SPED_P 200
NAV_ALT_SPED_PM 150
NAV_CEILING 0
NAV_DIST_I 0
NAV_DIST_IM 0
NAV_DIST_OM 999
NAV_DIST_P 0.5
NAV_DIST_PM 999
NAV_HDFRE_CHAN 0
NAV_LANDING_VEL 0.5
NAV_MAX_DECENT 1
NAV_MAX_SPEED 3
NAV_SPEED_I 0.00749999983236
NAV_SPEED_IM 10
NAV_SPEED_OM 15
NAV_SPEED_P 5
NAV_SPEED_PM 10
PPM_CHAN_MID 1512
PPM_SCALER 3
PPM_THROT_LOW 1090
QUATOS_AM1 -10
QUATOS_AM1_KNOB 0
QUATOS_AM2 -25
QUATOS_AM2_KNOB 0
QUATOS_J_PITCH 0.0126999998465
QUATOS_J_ROLL 0.0126999998465
QUATOS_J_YAW 0.024661000818
QUATOS_K1_KNOB 0
QUATOS_L1_ASP -10
QUATOS_L1_K1 18.6000003815
QUATOS_MAX_OUT 4
QUATOS_MM_P01 0
QUATOS_MM_P02 0
QUATOS_MM_P03 0
QUATOS_MM_P04 0
QUATOS_MM_P05 0
QUATOS_MM_P06 0
QUATOS_MM_P07 0
QUATOS_MM_P08 0
QUATOS_MM_P09 0
QUATOS_MM_P10 0
QUATOS_MM_P11 0
QUATOS_MM_P12 0
QUATOS_MM_P13 0
QUATOS_MM_P14 0
QUATOS_MM_P15 0
QUATOS_MM_P16 0
QUATOS_MM_R01 0
QUATOS_MM_R02 0
QUATOS_MM_R03 0
QUATOS_MM_R04 0
QUATOS_MM_R05 0
QUATOS_MM_R06 0
QUATOS_MM_R07 0
QUATOS_MM_R08 0
QUATOS_MM_R09 0
QUATOS_MM_R10 0
QUATOS_MM_R11 0
QUATOS_MM_R12 0
QUATOS_MM_R13 0
QUATOS_MM_R14 0
QUATOS_MM_R15 0
QUATOS_MM_R16 0
QUATOS_MM_Y01 0
QUATOS_MM_Y02 0
QUATOS_MM_Y03 0
QUATOS_MM_Y04 0
QUATOS_MM_Y05 0
QUATOS_MM_Y06 0
QUATOS_MM_Y07 0
QUATOS_MM_Y08 0
QUATOS_MM_Y09 0
QUATOS_MM_Y10 0
QUATOS_MM_Y11 0
QUATOS_MM_Y12 0
QUATOS_MM_Y13 0
QUATOS_MM_Y14 0
QUATOS_MM_Y15 0
QUATOS_MM_Y16 0
QUATOS_M_TLT_RT 1
QUATOS_M_YAW_RT 1
QUATOS_PROP_K1 14.6199998856
QUATOS_PT_KNOB 0
QUATOS_QUAT_TAU 0.0500000007451
RADIO_AUX2_CH 6
RADIO_AUX3_CH 7
RADIO_AUX4_CH 8
RADIO_AUX5_CH 9
RADIO_AUX6_CH 10
RADIO_AUX7_CH 11
RADIO_FLAP_CH 5
RADIO_GEAR_CH 4
RADIO_PITC_CH 2
RADIO_ROLL_CH 1
RADIO_RUDD_CH 3
RADIO_SETUP 5
RADIO_THRO_CH 0
RADIO_TYPE 4
SIG_BEEP_PRT 0
SIG_LED_1_PRT 0
SIG_LED_2_PRT 0
SIG_PWM_PRT 0
SPVR_BAT_CRV1 9.21014404297
SPVR_BAT_CRV2 14.8179597855
SPVR_BAT_CRV3 -58.9025497437
SPVR_BAT_CRV4 116.608200073
SPVR_BAT_CRV5 -107.419296265
SPVR_BAT_CRV6 37.7908210754
SPVR_FS_ADD_ALT 0
SPVR_FS_RAD_ST1 0
SPVR_FS_RAD_ST2 0
SPVR_LOW_BAT1 3.59999990463
SPVR_LOW_BAT2 3.40000009537
SPVR_VIN_SOURCE 0
TELEMETRY_RATE 20

log is also available. Just contact me.

Any comments and suggestions are welcome.

[aBUGSworstnightmare]

Hi Carlos,

your MAG is not calibrated! Please make sure to do TARE and on-board MAG-CALIBRATION (http://autoquad.org/wiki/wiki/configuri ... libration/) and store the values in EEPROM (stick commands or button in QGC).

Are your ESC32V2 properly calibrated with the XOAR 14x6 (virtual current limiter - refer to http://autoquad.org/wiki/wiki/esc32/esc32-calibrations/)?

Joerg

P.S. better to use QGC to save parameters to file and add this file to your posts! Keeps post small and thread more readable.