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 238 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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Re: Tuning soft frame

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

LPR wrote: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



Yes, params link is fine, but the link to the log-file in the dropbox is not working for me.
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Re: Tuning soft frame

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

aBUGSworstnightmare wrote:Link to log-file is broken!


Sorry, Dropbox. Try this Google Drive one:

https://drive.google.com/file/d/0BwL8FV ... sp=sharing

Choose Download when you can, rather than View. Then find the local file and open it in AQ.
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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

Patnet wrote: Will not fly straight now though.



A bit complicated but when I do a new Mag calibration the AQ won't fly straight, won't yaw at all. When I load an existing mag calibration from a previous Params.txt and store to EEPROM the yaw test is OK, but the app compass shows 180-degrees from actual. So, SW not NE. Also pretty unstable now too.

Any ideas how one would correct that?
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Re: Tuning soft frame

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

Patnet wrote:
Patnet wrote: Will not fly straight now though.



A bit complicated but when I do a new Mag calibration the AQ won't fly straight, won't yaw at all. When I load an existing mag calibration from a previous Params.txt and store to EEPROM the yaw test is OK, but the app compass shows 180-degrees from actual. So, SW not NE. Also pretty unstable now too.

Any ideas how one would correct that?


I would suggest to load defaults and start from scratch: do TARE, do on-board MAG calibration, store data in EEPROM and verify it's correct.

Now change parameters and start flight testing.

Which version of the AQ app do you use? V0.3.36 is the latest one (viewtopic.php?f=32&t=2821&start=100#p34973). Don't attempt to fly missions when your craft is not flying correctly in manual and AH/PH mode!
Please answer my questions on your crafts details!
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Re: Tuning soft frame

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

aBUGSworstnightmare wrote:
Please post some more details on your setup (motors, prop size, AUW).


Thanks,

Motors: I'm using the DYS BX2212 920KV DJI Phantom clones. They're great, no whine, and I've not had any failures despite multiple crashes:

http://www.banggood.com/DYS-BX2212-KV92 ... 36355.html

Props: I'm using Gemfan DJI-style 9443 props:

http://www.banggood.com/Gemfan-DJI-Styl ... 61064.html

AUW: 1.67 kilos. Do't really want to go heavier by adding a 4S

Battery: Fire Bull 3300mAh 3S with 25C; 272 grams (vendor website is wrong @212):

http://www.banggood.com/Fire-Bull-11_1V ... 44064.html

GPS:

Compact Size Built-in GPS Active Antenna 28*28*8.5mm LNA 28dB IPX/U.fl 6"cable - I've replaced the u.fl with a longer cable and added a 50x50mm ground plane. I don't know if it has GLONASS too, I doubt it. It's also not "brand-new and unopened." The cable was new, but the antenna showed visible signs of use.

http://www.ebay.com/itm/Compact-Size-Bu ... 3f27805a76

Objective: longer distances, stable flight rather than acro-style.

Topography: Mountainous deserts; Coastal valleys and mountains. Where I fly is usually windy. Eight kph and higher.

Upgrades so far: ESCs from the base Banggood SimonK 30A with 3A BEC

http://www.banggood.com/SimonK-30A-2-3S ... 19129.html

to Afro ESC 30Amp OPTOs

http://www.hobbyking.com/hobbyking/stor ... ouse_.html

and the KISSYS basic adapter to your adapter:

viewtopic.php?f=40&t=3857

Plan: This is my first build started in January 2015 and has already gone way over budget what with all the crash parts and so on. I was keen to really build it on a proof-of-concept basis and then start upgrading it. I want to get all the functionality at least working to some degree before major changes. WPs is the only outstanding one.

Big changes?:I like the idea of longer, stiffer metal arms with 500 KV motors and bigger 15-inch props, but I have wind issues where I fly so I would be concerned about bigger props buffeting the quad. But that is a logical next step. I am open to the idea of upgrades after this quad is at least working with all functionality in place.
Last edited by Patnet on Mon Oct 26, 2015 6:01 pm, edited 1 time in total.
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