Issue with Yaw on fast descent.

[Astudillo]

Hey guy's,

I build a 250 size quad with a M4 and kiss esc's and Menno's quatos firmware.
The machine flies pretty well except it yaws clockwise on fast descents.
I played with the Max Yaw rate from 1 to 6 ( i have my yaw rate 360°). I also increased and decreased the Prop Torque, but with no solution to the yawing.

What am i doing wrong?

Here a video of the yawing:


The quad:

ZMR250

Quatos numbers:

quatos

Quatos+pids.png (85.87 KiB) Viewed 9585 times

Mixing:

Mixing

Schermafbeelding 2015-11-23 om 23.09.26.png (68.88 KiB) Viewed 9585 times

Additional control settings:

acs

Schermafbeelding 2015-11-23 om 23.10.03.png (51.16 KiB) Viewed 9585 times

Misc:

Misc

Schermafbeelding 2015-11-23 om 23.12.09.png (194.92 KiB) Viewed 9585 times

Cheers,

Ray

[LPR]

Ray

It's hard to say for sure what the problem is. Just looking at the quad I think that the yaw problem could be caused by something as small as the clover leaf antenna being under one of the props. Remove the antenna and see if that fixes the yaw problem.

I've seen props that are not the same pitch on the CW and CCW props. If one of the ESCs is not calibrated the same as the others, that could be the problem. If one of the motors is tilted a very small amount you can have yaw problems.

You might find that increasing the Quatos Max Out will give the quad more yaw control.

Larry

[Astudillo]

Hi Larry,

Thanks for your reply. I actually already removed the antenna, but i will check the props and try some other other ones as well. Will check if the motors/arms are leveled.

In what increments should i increase the Quatos Max Out, as the wiki says you shouldn't mess with it.

Cheers,

Ray

[LPR]

[Astudillo]

Hey Guy's

i raised the Quatos Max Out to 6 and the yawing stopped.

Cheers,

Ray

[LPR]

If you like to be very fussy you can lower the Quato Max out back to 4 or less and tune your quad till the yaw problem goes away and then increase QMO to have the best performance for yaw.

Larry