thank you very much for your hints!
the last days we recognized lots of improvements! but first of all some construction details.
our quadrocopter uses kiss18 with tiger u3 running 13*4,4 tiger props, as you already know. they are mounted on 20x0,5mm carbon fiber tubes with a length of round about 400mm. these tubes are mounted foldable between two strong carbon fiber plates, same machanism as the jordana from rosewhite (google shows many pictures). total weight is about 2700grams
so now our improvements:
tilt rate d ist now about 12000, 1/3 of the value before (34600)!!!
that killed nearly all vibrations, so i think that the freewheeling escs caused many vibrations due to much to high parameters and with that hard and fast regulation.
1)
but im not sure how to set the right value, at 8000 to 9000 it starts oscillating, from 10000 to 11000 it is not clearly visible and at 12000 it is absolute stable. Is this the right value to set? or should we go higher to be sure?
2)
what about the angle parameters? in wich cases schould i touch them?
we installed a current sensor after testing for the right params carefully. it is the fcs-150, which shows a total hover current of about 20 amps. that means 5A each motor!
the full throttle current is about 65A, 16 to 17 each... that is not above the limit!?!
in my opinion the fcs-150 is a sufficient messure method to have an idea of the currents. do you agree?
last option will be the soon release of the kiss30 for up to 6s.
3)
since we solved the first problems with your help, i would like to ask you for a hint for the autonomous navigation parameters... before crashing
i found some videos on youtube about testing the navigation. some times a copter starts up with full throttle or is chasing very fast to a side to reach the goal.
we would like to prevent our copter from going too fast for first tests with the navigation.
is my idea of the system right when i say that the stability of the drone is not affected by navigation rates? for example the values are set to low, so the copter will not be able to fight against wind, but it can not crash?
Just to be sure what this parameters will do!
at least, our new logfile:
there are some vibrations left but we can live with that at the moment, next big step is a new construction of the arms and motor mounts, hoping that will solve the vibration issue and the different thrusts/motor outputs.