I've made some PID tunings yesterday and here is the final parameter set.
- PARAMS_spider_20150705_0r1.txt
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I've balanced the props to test if I can reduce the overall vibration level, but due to the bad motors this only showed a minor effect.
Here are some shots from the logs:
- High vibration level is caused by bad motors
- Motor output with PIDs posted above. The aft motors need to work harder because of the bad weight distribution (M5 =rear left; M6= rear right)
Tested some waypoint flight (mission mode) and the result was pretty good (Mission mode PIDs are all default).
Conclusion of the PID version:
- use good motors and balance your props
- add additional standoffs (37mm when using DJI/DJI clone arms) to the frame to make it stiffer.
- without a Camera in front the weight distribution of the craft is very bad whit the battery in the aft compartment (in-between the frame plates) --> try to mount it on top over the FC (maybe requires a GPS antenna with a longer lead)
- active freewheeling of the ESC32V3 has been disabled
I will proceed with Quatos testings on the craft (without making any of the mentioned changes for sure)!