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?)
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.