Tuning soft frame

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

Re: Tuning soft frame

Postby Patnet » Wed Oct 28, 2015 6:24 pm

aBUGSworstnightmare wrote:
Questions:
- did you start from scratch of with some old parameters?
- what are your YAW params?
-is your MAG calibrated correctly?
- just to make sure: LiPo is connected to ADC pad of your M4V2 (refer to http://autoquad.org/wiki/wiki/m4-microc ... onitoring/) for voltage monitoring?


Hi, I did not start from scratch. This is the IMU_ACC image from yesterday with my original parameters from early October that causes the AQ to fly fine but yaw when it reaches a waypoint (miss waypoint?)

068-AQL_log.jpg


YAW Params are:

CTRL_MAN_YAW_RT 160

CTRL_YAW_ANG_D 0
CTRL_YAW_ANG_DM 0
CTRL_YAW_ANG_F 0
CTRL_YAW_ANG_I 1.99999994948e-05
CTRL_YAW_ANG_IM 0.0399999991059
CTRL_YAW_ANG_OM 1.25
CTRL_YAW_ANG_P 0.0500000007451
CTRL_YAW_ANG_PM 1.25
CTRL_YAW_RTE_D 240
CTRL_YAW_RTE_DM 386
CTRL_YAW_RTE_F 0.25
CTRL_YAW_RTE_I 0.725000023842
CTRL_YAW_RTE_IM 386
CTRL_YAW_RTE_OM 870
CTRL_YAW_RTE_P 1445
CTRL_YAW_RTE_PM 386

The MAG is good now (accurate heading) and the lipo is connected to the ADC--I'd forgotten to do it when I created the Params file you saw, but added it quickly.

I'm now going to try to identify the cause of the yawing bias one way--probably bent arm although when I last checked they were all within less than half a degree. I will then start on your and Larry's PID ideas again. But I need to correct the yaw issue first.
Patnet
 
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Re: Tuning soft frame

Postby LPR » Thu Oct 29, 2015 12:47 pm

Pat

I don't have much experience with soft frames. My information is based on watching Joerg get his flying and some of my older AQ quad I built.

Yaw problems can be caused by one motor that is not quite performing the same as the others. All your ESC may not be calibrated the same.

Trying to use your old settings is not a good idea.

We need to have a complete parameter list to do a good job of giving you some help.

Larry
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Re: Tuning soft frame

Postby Patnet » Thu Oct 29, 2015 4:33 pm

LPR wrote:Pat

We need to have a complete parameter list to do a good job of giving you some help.

Larry


Hi Larry, thanks, the YAW data above was for Joerg--he asked for it.

I've fixed the one recent Yaw issue where it only yaws one direction by bending one arm with heat. It must have gotten bent in a crash. I am now going to revisit your PID suggestions when the wind here dies down a bit maybe later in the weekend. I'm starting with my kind of OK month-old Param file making some of the PID changes you and Joerg suggest on top of it. I'm going slower with changes this time to avoid the crashing problem. I'll let you know what happens.
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Re: Tuning soft frame

Postby Patnet » Sat Oct 31, 2015 11:57 pm

Any comments? Getting better on the vibrations... I think this is about as good as I'm going to get it with Larry and Joerg's PID suggestions:

With CTRL TLT RTE D @ 10150
CTRL TLT ANG F @ 0.182
CTRL TLT RTE F @ 0.182

093-AQL_log_ACC_IMU.jpg


093-AQL_Motors.jpg
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Re: Tuning soft frame

Postby LPR » Sun Nov 01, 2015 1:48 pm

Pat

Now for the most important information, how does it fly. Your vibrations look good you must have props that are well balanced.

First see how well your quad can stop after a large joystick input. If it stops without much movement back and forth you're getting close to a well tuned quad.

Next try RTH first from a short ways away from the home point. Then go further away from the home point both horizontally and vertically. If your quad does RTH well with the max speed set to 8 m/s or less you're ready for missions.

Larry
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Re: Tuning soft frame

Postby Patnet » Sun Nov 01, 2015 10:33 pm

I do see some very slight up and down oscillations in PH that I don't see when holding a position in MAN. What would be causing that possibly?
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Re: Tuning soft frame

Postby LPR » Sun Nov 01, 2015 11:11 pm

Pat

Your amount of up and down movement depends on how good of GPS signal you're getting. The lower your hacc is the better your quad will performs in PH. The vertical control is around 3 times less accurate than horizontal with any GPS system.

If you are away from stuff like buildings and trees you'll find better control in PH.

Larry
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Re: Tuning soft frame

Postby Patnet » Mon Nov 02, 2015 1:01 am

Thanks, I've been lowering NAV ALT SPEED P and ALT SPEED I to try to get the PH more solid. I prefer the performance--it seems more precise. But I'm getting more logged vibrations.

I've now gone back to the PIDs from the latest graph you saw yesterday and am also getting more vibrations. No longer at or around 2. Same PIDs.

Will wind affect vibration? I have more wind this afternoon.

EDIT: Reducing NAV ALT SPEED P to 240 from 260; and NAV ALT SPEED I to 3.9 from 4 is the best mix of AH crispness and kindof below 2 vibrations.
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Re: Tuning soft frame

Postby LPR » Mon Nov 02, 2015 4:15 am

Pat

There are a number of things that can change the amount of vibration you see. How tight you strap in the lipo can have a big effect on how much vibration is seen on the FC. The battery is often around half the weight of the quadcopter and if the battery is not held tightly the battery does less damping.

I use Quatos FW and I found I like the way my large quad control in APH with Nav Alt Speed P and I lowered to 100 and 1.

Larry
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Re: Tuning soft frame

Postby Patnet » Wed Nov 04, 2015 4:48 pm

Successful mission!! Next up batteries issue...
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