First post also so hello to all. o/

I am building my first quad.
(It's a budget build)

QAV250 clone
APM2.8
Racerstar Racing Edition 2205 BR2205 2300KV
Racerstar RS30A Lite 30A Blheli_S 16.5 BB1 (passthrough not working on APM2.8 so they are with default config)
6050 dual blade props
6x4x3 tri blade props
HBR 4S 5000mah
(GPS stand is for shielding the video camera from interference)


It flies and it seems to have a lot of extra power. (Reverse props, on a scale, 4.5kg - 1kg of drone)
but i can't get the yaw PID quite right.
It had terrible side oscillation first but tuning those PID's corrected that.
Now it has some forward oscillations that i would like to eliminate.
Going forward and backward starts a mellow oscillation before it stables.

Roll P 0.016 I 0.070 D 0.004
Rate P 0.016 I 0.070 D 0.004
Yaw 0.200 I 0.020 D 0.000

Any help would be appreciated.
First and foremost i'm looking for a good settings for stable flight for taking videos.
(I can link for the current settings file from Mission Planner)

I am also interested in racing settings but that is only secondary interest at the moment.
I'm not ready for that yet but waiting for FPV camera and transmitter.

Any help would be appreciated. Arigato. ^^

Konnichiwa

Without blackbox its mostly trial and error.

I havent used Arducopter for years, but same principle.
First. P/D ratio.
If P too high you will hear vibrating noise after sharp roll/pitch.
If D too high motors will sound like angry bees.

I would start with the stock pids for that fc. From there, try RPM filtering and no-directional d-shot.. then, go to the betaflight wiki page, find a “profile” you may want to try and do a cli install.. or one from “uav tech”…
What version of betaflight r u using?

(19-Aug-2021, 11:15 AM)Rob Axel Wrote: What version of betaflight r u using?

The OP is using ArduPilot firmware with an ArduPilot APM 2.8 flight controller.

(19-Aug-2021, 10:45 AM)romangpro Wrote: Konnichiwa

Without blackbox its mostly trial and error.

I havent used Arducopter for years, but same principle.
First. P/D ratio.
If P too high you will hear vibrating noise after sharp roll/pitch.
If D too high motors will sound like angry bees.

I think the settings are somewhat close.
I lowered P and D under the point when it started to vibrate.

But there is still some drifting. Not so much sideways but forward backward it's like a swing.

(19-Aug-2021, 11:25 AM)SnowLeopardFPV Wrote: The OP is using ArduPilot firmware with an ArduPilot APM 2.8 flight controller.

…”tapping out..”

i dont have experience on ardupilot.

a racerstar 2205 has up to 1kg thrust, total 4kg max trust might be low. (4,5kg seems more thrust than the should provide from specs, +0.5kg from the longer blades :-))
i would suggest to give it a try on a smaller high c-rated battery and maybe on a 5inch-5.5inch blade, to get an impression about a rotor authority issue..

(19-Aug-2021, 12:20 PM)hugnosed_bat Wrote: i dont have experience on ardupilot.

a racerstar 2205 has up to 1kg thrust, total 4kg max trust might be low. (4,5kg seems more thrust than the should provide from specs, +0.5kg from the longer blades :-))
i would suggest to give it a try on a smaller high c-rated battery and maybe on a 5inch-5.5inch blade, to get an impression about a rotor authority issue..

Optimal prop for those motors would be 5x4.5 (950g thrust, 27.6A)
I'll have to order some smaller props to test. First i thought that the battery might be a bit heavy for the 5 inch props so i got 2 different sets of 6 inch ones. (it is a little more stable with the 6050 bullnose props)

Would something like 5030 or 5040 be more suitable?

And it is a budget build so i'm not keen on getting a new battery just yet.

i would suggest 5040, as its a lot weight, 5030 might need more rpms for the same thrust and will be less efficiency in that case.
i would even go higher in the pitch, a gemfan hulkie 5055X3 huge prop surface and high pitch could fit that configuration - i believe...

on your actual rotors, biblade should work better and lower pitch should work better in theory.

its just an idea about a possible rotor-authority issue, maybe it can work like you already planned it

(19-Aug-2021, 02:36 PM)hugnosed_bat Wrote: i would suggest 5040, as its a lot weight, 5030 might need more rpms for the same thrust and will be less efficiency in that case.
i would even go higher in the pitch, a gemfan hulkie 5055X3 huge prop surface and high pitch could fit that configuration - i believe...

on your actual rotors, biblade should work better and lower pitch should work better in theory.

its just an idea about a possible rotor-authority issue, maybe it can work like you already planned it

Thank you for all the help and advice.
I will order smaller props soon.

And after a day of playing around, swinging motion is fixed!
Many tutorials say that roll and pitch PID should be locked. I don't know why or how but that's not the case with this build.
Roll P 0.016 Pitch P 0.032 Yaw P 0.200

It's still not perfect but no oscillation, no swinging, no wobbling.
I have learned a lot.

It's a step in right direction at least. ^^
P.S. Next step is tuning the throttle curve. Tiny push on throttle makes it hit the ceiling. A bit too much thrust, hovers around 30%.