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AutoQuad Forum • View topic - Tuning soft frame

Tuning soft frame

Info and discussion about the autonomous Micro FC, suitable for nanos, micros and mini multirotors

Tuning soft frame

Postby Patnet » Fri Oct 23, 2015 9:48 pm

This subject has move from ANDROID APP, where it was getting off-topic.

The original issue was intermittent overshooting of WPs out at about 200m. I've now been able to generate a log after fixing my SD slot and want to analyze it. I don't really know exactly what to look for although I have seen the Wiki on the subject, I'd like to know what items like IMU_ACC mean in relation to vibrations, for example.

The machine is a Dead Cat clone with plastic arms.

I'm attaching the current Params with PID changes suggested by Joerg based on his experience with his similar frame. Joerg, what do you think?

Thanks for everybody's help.

Link to the log:

https://www.dropbox.com/s/opklk34bt25pj ... L.LOG?dl=0

revised_params_4a.txt
(14.83 KiB) Downloaded 288 times


cyB2027Tok2YVMoOJ35XdTJliBDaq4W_8Kfz6grsiYU.jpg
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Re: Tuning soft frame

Postby aBUGSworstnightmare » Sat Oct 24, 2015 7:56 am

Link to log-file is broken!
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Re: Tuning soft frame

Postby LPR » Sat Oct 24, 2015 1:47 pm

Joerg

The link worked for me. I shortened the list.

# Onboard parameters for system MAV 147

CONFIG_VERSION 128
CTRL_DBAND_THRO 100
CTRL_DEAD_BAND 40
CTRL_FACT_PITC 0.0500000007451
CTRL_FACT_ROLL 0.0500000007451
CTRL_FACT_THRO 0.5
CTRL_MAN_YAW_RT 90
CTRL_MAX 1446
CTRL_MIN_THROT 20
CTRL_NAV_YAW_RT 120
CTRL_PID_TYPE 0
CTRL_TLT_ANG_D 5500
CTRL_TLT_ANG_DM 900
CTRL_TLT_ANG_F 0.125
CTRL_TLT_ANG_I 0.00249999994412
CTRL_TLT_ANG_IM 360
CTRL_TLT_ANG_OM 1200
CTRL_TLT_ANG_P 100
CTRL_TLT_ANG_PM 1200
CTRL_TLT_RTE_D 11850
CTRL_TLT_RTE_DM 9999
CTRL_TLT_RTE_F 0.10000000
CTRL_TLT_RTE_I 0
CTRL_TLT_RTE_IM 9999
CTRL_TLT_RTE_OM 3000
CTRL_TLT_RTE_P 0
CTRL_TLT_RTE_PM 9999

MOT_PWRD_05_P 100
MOT_PWRD_05_R 100
MOT_PWRD_05_T 100
MOT_PWRD_05_Y -100
MOT_PWRD_06_P 100
MOT_PWRD_06_R -100
MOT_PWRD_06_T 100
MOT_PWRD_06_Y 100
MOT_PWRD_07_P -100
MOT_PWRD_07_R -100
MOT_PWRD_07_T 100
MOT_PWRD_07_Y -100
MOT_PWRD_08_P -100
MOT_PWRD_08_R 100
MOT_PWRD_08_T 100
MOT_PWRD_08_Y 100

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 4
NAV_ALT_SPED_IM 700
NAV_ALT_SPED_OM 700
NAV_ALT_SPED_P 300
NAV_ALT_SPED_PM 150
NAV_CEILING 50
NAV_DIST_I 0
NAV_DIST_IM 0
NAV_DIST_OM 999
NAV_DIST_P 0.699999988079
NAV_DIST_PM 999
NAV_HDFRE_CHAN 0
NAV_LANDING_VEL 1
NAV_MAX_DECENT 1.5
NAV_MAX_SPEED 6
NAV_SPEED_I 0.00650000013411
NAV_SPEED_IM 20
NAV_SPEED_OM 30
NAV_SPEED_P 10.5
NAV_SPEED_PM 20
PPM_CHAN_MID 1512
PPM_SCALER 3
PPM_THROT_LOW 1090

Larry
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Location: MN, USA

Re: Tuning soft frame

Postby aBUGSworstnightmare » Sat Oct 24, 2015 2:00 pm

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Re: Tuning soft frame

Postby Patnet » Sat Oct 24, 2015 3:00 pm

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Re: Tuning soft frame

Postby aBUGSworstnightmare » Sun Oct 25, 2015 5:37 pm

Hi,

well, vibrations are what I've expected to see from this frame (since mine look quite similar)
vibrations.jpg
Vibration level


So, let's look a 'lil deeper.
motors.jpg
Motor outputs

Your motors are clipping. Please post some more details on your setup (motors, prop size, AUW). I expect your craft is too heavy for the motor+prop combination your currently using or you need to go for 4S (3S atm).
I've tried my spider with 3S and T9545 props --> motor output looks as your's; craft is way too heavy for 3S operation (or props are too small) --> changed to 4S only for testing with the 9.5in props.
gps accuracy.jpg

Your GPS accuracy is not the best --> what size of antenna do you use? Is this a GNNS (GPS+GLONASS) or is it GPS only?
adcvin.jpg

Your battery is depleting fast --> please post details (3S is knows, so let us know capacity and C-ratio)
Be sure to check your channel settings
channel settings.jpg

throttle range should be 0 - 1400, yours is - something
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Re: Tuning soft frame

Postby Patnet » Sun Oct 25, 2015 7:00 pm

Hi Joerg, thanks so much for that great in-depth analysis. Makes a lot of sense. I'll answer your questions tomorrow... I'm in the field.

Had a bizarre experience in when I wanted to step back from your settings suggestions and go back to my original ones to flight test. I made the changes with the app and the AQ now will not respond to yaw at all. Appears very unsteady. I've verified in the app that all the Params are identical to my earlier set. Will not fly straight now though. Am I missing something?

Does the app corrupt the Params?
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Re: Tuning soft frame

Postby Patnet » Mon Oct 26, 2015 1:14 am

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Re: Tuning soft frame

Postby aBUGSworstnightmare » Mon Oct 26, 2015 7:52 am

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Re: Tuning soft frame

Postby Patnet » Mon Oct 26, 2015 5:12 pm

Last edited by Patnet on Mon Oct 26, 2015 6:01 pm, edited 1 time in total.
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