I am just getting my new system with the DIMU going but in the initial flights I noticed that the throttle response in manual mode was extremely sensitive, so much so that holding altitude or even landing was difficult.
Back home we did some probing into this and noticed that in the logfile the motor outputs (i.e. MOT_MOTOR0 etc.) are going up to 4000 on full throttle. On the analog board they would only go to 1900 or so. I probed the PWM outputs from the AQ board with a scope and indeed notice that on the DIMU version the PWM saturates at 1900 a little above mid-stick. Also, I noticed that there seemed to be little response at the lower end of the throttle, which means the mid-stick PWM values are about the same (50microsecs apart) for both systems but the DIMU system shoots up much faster.
Both systems have the throttle factor set at 0.7 currently. Any idea where these differences might come from?
I also noticed in the parameters that the CTRL_MAX is 300 on the analog system and 1440 on the DIMU. Not sure if this has anything to do with it.
The radio inputs were the same.
Will try to add some graphs with the data later today.
Cheers,
Richard