Re: Quadcopter want to flip when fast throttle up
Posted: Wed Feb 03, 2016 11:31 am
Hi Brat:
KISS ESC and AQ it´s a very difficult couple. I have long experience with this couple and I´ll try to help you. In general line, it Works fine with small machines but not with a mid-large ones like yours.
First of all looking at the Log, there´s a vibration coupling between the AQ controller and the KISS that generates so much vibration levels (about 7m/s2) unaceptable for AQ. On top of that, using PID instead of Quatos makes the problem worst (Quatos is much much less sensible to this effect).
Appart of that it looks that one of your motors reached the max limit (see atached plot) and that was the reason of the flip. Review the params of the motor.
To tune the params, I strongly suggest you to move to Quatos instead of PID. But If you want to still try PID, then you need to reduce a lot the TILT_RATE_D mainly. Play with "F" factor it´s critical (it controls how quick you want to apply a change. F=0.1 means that you´ll need 10 steps to reach 100%). Take care using it.
You should get vibration levels lower than 2m/s2 (in my Q9 quad similar to yours, I get 0.5m/S2, but using ESC32V3 and quatos).
Hope this helps you a bit
Angel
KISS ESC and AQ it´s a very difficult couple. I have long experience with this couple and I´ll try to help you. In general line, it Works fine with small machines but not with a mid-large ones like yours.
First of all looking at the Log, there´s a vibration coupling between the AQ controller and the KISS that generates so much vibration levels (about 7m/s2) unaceptable for AQ. On top of that, using PID instead of Quatos makes the problem worst (Quatos is much much less sensible to this effect).
Appart of that it looks that one of your motors reached the max limit (see atached plot) and that was the reason of the flip. Review the params of the motor.
To tune the params, I strongly suggest you to move to Quatos instead of PID. But If you want to still try PID, then you need to reduce a lot the TILT_RATE_D mainly. Play with "F" factor it´s critical (it controls how quick you want to apply a change. F=0.1 means that you´ll need 10 steps to reach 100%). Take care using it.
You should get vibration levels lower than 2m/s2 (in my Q9 quad similar to yours, I get 0.5m/S2, but using ESC32V3 and quatos).
Hope this helps you a bit
Angel