by LPR » Sun Jan 31, 2016 2:57 pm
Looking at you log tells me your having a lot of problems with your motor control and that is giving you vibrations that are causing the M4 to lose control.
You need to find PID settings that reduces the over control of the motor's throttle.
I haven't played with PID settings on that large of frame controlled with an M4 and for the most part, I've used Quatos.
My guess is that reducing P, D and F should give you better looking motor control.
Try something like CTRL_TLT_ANG_P 260 down to at low as 150
and CTRL_TLT_ANG_D 5000 down to at low as 4000
and CTRL_TLT_ANG_F 0.25 down to at low as .15
Change one setting at a time just a little and look at the motor and ACC logs. Well, that's what I would do.
My large 4.5 kg quad that uses the M4 flies very well but I've not tried PID control on it.
Larry
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Last edited by
LPR on Wed Feb 03, 2016 4:16 pm, edited 3 times in total.