# serial serial 20 1 115200 57600 0 115200 serial 0 1 115200 57600 0 115200 serial 1 4 115200 57600 0 115200 serial 2 0 115200 57600 0 115200
# led led 0 15,15:ES:IA:0 led 1 15,8:E:WF:0 led 2 15,7:E:WF:0 led 3 15,0:NE:IA:0 led 4 8,0:N:F:0 led 5 7,0:N:F:0 led 6 0,0:NW:IA:0 led 7 0,7:W:WF:0 led 8 0,8:W:WF:0 led 9 0,15:SW:IA:0 led 10 7,15:S:WF:0 led 11 8,15:S:WF:0 led 12 7,7:U:WF:0 led 13 8,7:U:WF:0 led 14 7,8:D:WF:0 led 15 8,8:D:WF:0 led 16 8,9::R:3 led 17 9,10::R:3 led 18 10,11::R:3 led 19 10,12::R:3 led 20 9,13::R:3 led 21 8,14::R:3 led 22 7,14::R:3 led 23 6,13::R:3 led 24 5,12::R:3 led 25 5,11::R:3 led 26 6,10::R:3 led 27 7,9::R:3 led 28 0,0:::0 led 29 0,0:::0 led 30 0,0:::0 led 31 0,0:::0
# color color 0 0,0,0 color 1 0,255,255 color 2 0,0,255 color 3 30,0,255 color 4 60,0,255 color 5 90,0,255 color 6 120,0,255 color 7 150,0,255 color 8 180,0,255 color 9 210,0,255 color 10 240,0,255 color 11 270,0,255 color 12 300,0,255 color 13 330,0,255 color 14 0,0,0 color 15 0,0,0
set looptime = 1000 set emf_avoidance = OFF set i2c_highspeed = ON set gyro_sync = ON set gyro_sync_denom = 1 set mid_rc = 1500 set min_check = 1100 set max_check = 1900 set rssi_channel = 0 set rssi_scale = 30 set rssi_ppm_invert = OFF set rc_smoothing = OFF set input_filtering_mode = OFF set min_throttle = 1050 set max_throttle = 1850 set min_command = 1000 set servo_center_pulse = 1500 set 3d_deadband_low = 1406 set 3d_deadband_high = 1514 set 3d_neutral = 1460 set 3d_deadband_throttle = 50 set motor_pwm_rate = 400 set servo_pwm_rate = 50 set retarded_arm = OFF set disarm_kill_switch = ON set auto_disarm_delay = 5 set small_angle = 25 set fixedwing_althold_dir = 1 set reboot_character = 82 set gps_provider = NMEA set gps_sbas_mode = AUTO set gps_auto_config = ON set gps_auto_baud = OFF set serialrx_provider = SPEK1024 set sbus_inversion = ON set spektrum_sat_bind = 0 set telemetry_switch = OFF set telemetry_inversion = ON set frsky_default_lattitude = 0.000 set frsky_default_longitude = 0.000 set frsky_coordinates_format = 0 set frsky_unit = IMPERIAL set frsky_vfas_precision = 0 set hott_alarm_sound_interval = 5 set battery_capacity = 0 set vbat_scale = 110 set vbat_max_cell_voltage = 43 set vbat_min_cell_voltage = 33 set vbat_warning_cell_voltage = 35 set current_meter_scale = 400 set current_meter_offset = 0 set multiwii_current_meter_output = OFF set current_meter_type = ADC set align_gyro = DEFAULT set align_acc = DEFAULT set align_mag = DEFAULT set align_board_roll = 0 set align_board_pitch = 0 set align_board_yaw = 270 set max_angle_inclination = 500 set gyro_lpf = 188HZ set gyro_soft_lpf = 60.000 set moron_threshold = 32 set imu_dcm_kp = 2500 set imu_dcm_ki = 0 set yaw_control_direction = 1 set pid_at_min_throttle = ON set airmode_saturation_limit = 50 set yaw_motor_direction = 1 set yaw_jump_prevention_limit = 200 set tri_unarmed_servo = ON set servo_lowpass_freq = 400.000 set servo_lowpass_enable = OFF set failsafe_delay = 10 set failsafe_off_delay = 200 set failsafe_throttle = 1000 set failsafe_kill_switch = OFF set failsafe_throttle_low_delay = 100 set failsafe_procedure = 0 set rx_min_usec = 885 set rx_max_usec = 2115 set acc_hardware = 0 set baro_hardware = 0 set mag_hardware = 0 set blackbox_rate_num = 1 set blackbox_rate_denom = 1 set blackbox_device = SDCARD set magzero_x = 0 set magzero_y = 0 set magzero_z = 0
# rxfail rxfail 0 a rxfail 1 a rxfail 2 a rxfail 3 a rxfail 4 h rxfail 5 h rxfail 6 h rxfail 7 h rxfail 8 h rxfail 9 h rxfail 10 h rxfail 11 h rxfail 12 h rxfail 13 h rxfail 14 h rxfail 15 h rxfail 16 h rxfail 17 h
# dump profile
# profile profile 2
# aux aux 0 0 0 1400 2100 aux 1 2 2 900 1200 aux 2 27 2 1400 2100 aux 3 20 2 1800 2100 aux 4 0 0 900 900 aux 5 0 0 900 900 aux 6 0 0 900 900 aux 7 0 0 900 900 aux 8 0 0 900 900 aux 9 0 0 900 900 aux 10 0 0 900 900 aux 11 0 0 900 900 aux 12 0 0 900 900 aux 13 0 0 900 900 aux 14 0 0 900 900 aux 15 0 0 900 900 aux 16 0 0 900 900 aux 17 0 0 900 900 aux 18 0 0 900 900 aux 19 0 0 900 900
set gps_pos_p = 15 set gps_pos_i = 0 set gps_pos_d = 0 set gps_posr_p = 34 set gps_posr_i = 14 set gps_posr_d = 53 set gps_nav_p = 25 set gps_nav_i = 33 set gps_nav_d = 83 set gps_wp_radius = 200 set nav_controls_heading = ON set nav_speed_min = 100 set nav_speed_max = 300 set nav_slew_rate = 30 set alt_hold_deadband = 40 set alt_hold_fast_change = ON set deadband = 2 set yaw_deadband = 2 set throttle_correction_value = 0 set throttle_correction_angle = 800 set default_rate_profile = 2 set gimbal_mode = NORMAL set acc_cut_hz = 15 set accxy_deadband = 40 set accz_deadband = 40 set accz_lpf_cutoff = 5.000 set acc_unarmedcal = ON set acc_trim_pitch = 0 set acc_trim_roll = 0 set baro_tab_size = 21 set baro_noise_lpf = 0.600 set baro_cf_vel = 0.985 set baro_cf_alt = 0.965 set mag_declination = 0 set pid_delta_method = MEASUREMENT set pid_controller = MWREWRITE set p_pitch = 28 set i_pitch = 30 set d_pitch = 15 set p_roll = 28 set i_roll = 30 set d_roll = 15 set p_yaw = 63 set i_yaw = 45 set d_yaw = 0 set p_pitchf = 1.400 set i_pitchf = 0.400 set d_pitchf = 0.030 set p_rollf = 1.400 set i_rollf = 0.400 set d_rollf = 0.030 set p_yawf = 3.500 set i_yawf = 0.400 set d_yawf = 0.010 set level_horizon = 3.000 set level_angle = 5.000 set sensitivity_horizon = 75 set p_alt = 50 set i_alt = 0 set d_alt = 0 set p_level = 20 set i_level = 10 set d_level = 100 set p_vel = 120 set i_vel = 45 set d_vel = 1 set yaw_p_limit = 500 set dterm_cut_hz = 0.000 set gtune_loP_rll = 10 set gtune_loP_ptch = 10 set gtune_loP_yw = 10 set gtune_hiP_rll = 100 set gtune_hiP_ptch = 100 set gtune_hiP_yw = 100 set gtune_pwr = 0 set gtune_settle_time = 450 set gtune_average_cycles = 16
# dump rates
# rateprofile rateprofile 2
set rc_rate = 90 set rc_expo = 65 set rc_yaw_expo = 0 set thr_mid = 50 set thr_expo = 0 set roll_rate = 70 set pitch_rate = 70 set yaw_rate = 70 set tpa_rate = 30 set tpa_breakpoint = 1500
29-Apr-2016, 02:15 PM (This post was last modified: 29-Apr-2016, 02:18 PM by Relic.)
Hi jc86,
First of all, I am not an expert tuner, but I have been watching a LOT of Joshua Bardwell's videos lately so I was happy to see no one else did this yet. I know that I can help you out.
The main thing that jumped out at me was that your roll and pitch P are both quite low, especially compared to your I and D. The other thing that was obvious is that you have exactly the same values for roll and pitch, which is normal for a pure X frame with centralized weight… but then I googled your frame:
It's a pure H frame with a body that extends the whole length of the quad! So your moment of rotational inertia is way higher on pitch = PIDs will be higher, especially P. I wouldn't be surprised if ideal P for pitch is almost 2x what it is for roll, although you're probably not running an HD cam so maybe more like 1.5x.
So when you said that it felt sluggish, I immediately suspected low P, especially on pitch.
You can see that P is not very active and not even close to oscillating. Also it is lower in amplitude to D (as little as half). Its amplitude should be at least as high as D, hopefully higher.
You are getting oscillations, which you could fix by turning P down, but to be honest this is so extreme that most well-tuned quads without KISS ESCs are going to get oscillation doing this, so don't sacrifice the tune you get 99% of the time just to cure this. It might be a clue that your roll P won't be going up too much, but not really worth worrying about yet, especially as D is so dominant that it could even be causing the oscillations in this case (D is unpredictable especially if it's too high).
Now you can't even get it to oscillate in this extreme propwash, P is so low. However there's another weird thing going on: a severe pitch-up when you apply throttle (the "catch" part). This could indicate not enough I, but don't turn up I yet. I cleans up error not taken care of by P or D, and your P is so low that it is leaving a lot of garbage for I to clean up. So once you increase P, this problem should not occur in the first place.
I haven't looked at yaw, but P on pitch/roll are the two numbers you should focus on now. Do as Josh Bardwell recommends, and turn D down really low (like, 5 for pitch/roll and 0 for yaw). Then work on getting your P worked up on pitch and roll. Maybe start with P of 3.0 for roll and 4.0 for pitch. Increase roll by 0.5 each time until you can hear and see vibrations, then turn it down to 65% of that. Repeat for pitch.
Yay, my first analysis for someone else… if anyone sees a flaw here please give me feedback!
So let us know if this works. You should still have some bounce-back after flips and rolls which you will tune with D but at least it will be a lot more controllable. Then you can do D next, then I, then yaw. Oh and by the way, please don't bake the BB graph overlay into your video. Just supply the raw video (and a start index would help, although yours was almost matched by default) . The person analyzing the log will have their own idea as to what they want to look at (and motors/gyros isn't the most useful info anyway: we need PIDs). If you notice my screenshots have your (fainter) lines behind my (solid) lines: it's my lines that I want you to look at.)
First of all, I am not an expert tuner, but I have been watching a LOT of Joshua Bardwell's videos lately so I was happy to see no one else did this yet. I know that I can help you out.
The main thing that jumped out at me was that your roll and pitch P are both quite low, especially compared to your I and D. The other thing that was obvious is that you have exactly the same values for roll and pitch, which is normal for a pure X frame with centralized weight… but then I googled your frame:
It's a pure H frame with a body that extends the whole length of the quad! So your moment of rotational inertia is way higher on pitch = PIDs will be higher, especially P. I wouldn't be surprised if ideal P for pitch is almost 2x what it is for roll, although you're probably not running an HD cam so maybe more like 1.5x.
So when you said that it felt sluggish, I immediately suspected low P, especially on pitch.
You can see that P is not very active and not even close to oscillating. Also it is lower in amplitude to D (as little as half). Its amplitude should be at least as high as D, hopefully higher.
You are getting oscillations, which you could fix by turning P down, but to be honest this is so extreme that most well-tuned quads without KISS ESCs are going to get oscillation doing this, so don't sacrifice the tune you get 99% of the time just to cure this. It might be a clue that your roll P won't be going up too much, but not really worth worrying about yet, especially as D is so dominant that it could even be causing the oscillations in this case (D is unpredictable especially if it's too high).
Now you can't even get it to oscillate in this extreme propwash, P is so low. However there's another weird thing going on: a severe pitch-up when you apply throttle (the "catch" part). This could indicate not enough I, but don't turn up I yet. I cleans up error not taken care of by P or D, and your P is so low that it is leaving a lot of garbage for I to clean up. So once you increase P, this problem should not occur in the first place.
I haven't looked at yaw, but P on pitch/roll are the two numbers you should focus on now. Do as Josh Bardwell recommends, and turn D down really low (like, 5 for pitch/roll and 0 for yaw). Then work on getting your P worked up on pitch and roll. Maybe start with P of 3.0 for roll and 4.0 for pitch. Increase roll by 0.5 each time until you can hear and see vibrations, then turn it down to 65% of that. Repeat for pitch.
Yay, my first analysis for someone else… if anyone sees a flaw here please give me feedback!
So let us know if this works. You should still have some bounce-back after flips and rolls which you will tune with D but at least it will be a lot more controllable. Then you can do D next, then I, then yaw. Oh and by the way, please don't bake the BB graph overlay into your video. Just supply the raw video (and a start index would help, although yours was almost matched by default) . The person analyzing the log will have their own idea as to what they want to look at (and motors/gyros isn't the most useful info anyway: we need PIDs). If you notice my screenshots have your (fainter) lines behind my (solid) lines: it's my lines that I want you to look at.)
Thank you so much for your reply. i will certainly will try your tips
25-May-2016, 09:11 PM (This post was last modified: 25-May-2016, 09:13 PM by jc86.)
Hi Relic I am so sorry for late reply, unfortunately i have been busy with work and family lately.
I did try your tips, and it was much better, so thanks.
Today i upgraded it to betaflight 2.8.0 running blheli 14.6. (i had death roll issues with 14.5) I am using stock pids, except that i turned P roll a little, because of the H shape.
It was something funky about it, that i cannot explain.
LOG00067: It's hard to say much about your LOS flight because you are not flying near the edge of the envelope much. Just hovering and doing the occasional throttle punch. During those brief punches I'm not seeing any oscillation so your P can probably go up. D is looking pretty spikey already, which might be evidence of a noisy copter… is this the exact same quad or did you change some hardware?
In particular roll D is a bit out of control. When you wrote "except that i turned P roll a little, because of the H shape" you forgot to say up or down. I hope you said "down" because roll needs to be lower for an H frame. It looks like D is getting out of control on roll.
But again, we need an FPV flight like your original one to say much.
LOG00063: A bit more to work with here but looks like you are still LOS hovering with some punchouts and rolls/flips. During those I'm not seeing any P oscillations. It doesn't seem to be following your stick movements very well: I'm seeing a lot of gyro movement sometimes when your stick is centred. It probably doesn't have enough authority (low P). I'd do the same as I said before: turn D down really low and turn P up until it obeys your sticks better, and watch/listen for oscillations in punch outs, drop and catches, and if flying FPV, hard turns.
Blackbox logs seem to have a lot of "weird spikes", some important, some not. If you see micro spikes in D on zero throttle you can ignore them according to Josh Bardwell. I'm not sure what they are but the motors can't actually react that fast. If you have a noisy copter then there is a limit to how much you can turn up D, although running the latest Betaflight will make it fly better no matter how much noise
Next time, fly FPV, post the log and the raw flight video as well. Hope that helps a bit.
01-Jun-2016, 08:49 PM (This post was last modified: 01-Jun-2016, 08:57 PM by jc86.)
Finally i got to fly again yesterday. I have o-rings for vibration damping on the flight controller, that i think helped the gyro. I have upgraded the d4r-ii to xsr (SBUS). I think that helped some on the responsiveness
I'd like to take a look but you have 5 videos but 7 log files. You need to indicate which logs go with which videos. You can add a text file with this info, or even more conveniently, you can add the video file name to the log file name or vice versa.
Or just put each video/log pair in a separate folder. That's what I do. I also add a folder whose name is the log offset once I've found it:
04-Jun-2016, 11:33 PM (This post was last modified: 05-Jun-2016, 12:01 AM by jc86.)
(04-Jun-2016, 05:20 AM)Relic Wrote: I'd like to take a look but you have 5 videos but 7 log files. You need to indicate which logs go with which videos. You can add a text file with this info, or even more conveniently, you can add the video file name to the log file name or vice versa.
Or just put each video/log pair in a separate folder. That's what I do. I also add a folder whose name is the log offset once I've found it:
Hi I have done some more testing, i have followed your tips and renamed files to make it easier to combine. Log file and video file have the same numbers. and the logfile name also include the video offset.
Example LOG0006_+2.11.TXT PICT0006.mp4
log file and video belongs together because of number 0006. the offset is +2.11
First of all, so sorry for the delay, I haven't forgotten about you, just got busy with "work and family" too I'm looking at it now. Thanks for naming the files like that, and for doing lots of acro, way more to work with now!
Your logs and videos are great, thanks for packaging them that way Also, your flying is fun to watch, so that's a bonus
Do you like the way it flies now? I think you're getting there with the tune, so it's not so easy to give advice that's why I took so long. In the first flight (LOG0002_+1.86) P is obviously too high on both axis, so you turn it down, and bounce back is really bad on rolls/flips so you turn it up. This all makes sense.
You then turn D up and down to find a sweet spot, also a good idea. I think your last tune (LOG0006_+2.11) needs just a bit more P on roll/pitch and a bit more D on pitch… but you already tried that on your third tune (LOG0004_+2.13) and you seemed to get oscillations.
So I don't actually know what to recommend! On your last tune (LOG0006_+2.11) you have prop wash in an extreme situation, falling straight down, but almost any tune will have that:
The strange thing is that you have a weird oscillation during high throttle on all axes sometimes, and your video gets fuzzy, like here (also from LOG0006_+2.11):
But usually when you are at high/maximum throttle it doesn't happen so I'm not sure it's about the tune. Check your copter for anything loose that might be vibrating at certain motor speeds (like a resonance).
You don't change I from 50 on pitch/roll for any of the tunes. If you like it where it is, don't change it. The way to test I is to do a punch out, then cut throttle, then catch, without touching the right stick at all, at different angles, so we can see how much the copter rotates. I didn't see you do that in these vids so it's hard to judge I. Do that and raise I if needed until it maintains heading. You can run I pretty high with Betaflight 2.8 because it resets I during flips/rolls automatically to prevent bounce back.
I'd say vibration is pretty low in the gyros, but you still have some, especially on yaw. One thing you can try is try Boris's recommendations for a "slightly noisy setup" at https://github.com/betaflight/betaflight/releases and set your filters to:
gyro_lowpass = 80 dterm_lowpass = 100
See if it flies smoother that way, but it might increase prop wash and reduce sharpness. You can always put it back.
Your yaw P is at the default (9.5), but you're on a 180 size quad, and too much yaw P can cause noise, so you might try reducing that to 8.5 and see it flies smoother.
Finally, if you find it too sloppy during zero throttle, I noticed your min_throttle is pretty low (1020) so try bumping it to 1050 temporarily to see if it makes the zero-throttle handling sharper, then adjust it to your taste.
Sorry I can't be of much help anymore… your PIDs are in the right neighbourhood so you need to experiment with little changes and try to find the sweet spot.
Good luck with your tune and finding out the source of that vibration!
The following 1 user Likes Relic's post:1 user Likes Relic's post • jc86
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![[Image: 34wMBeveMdKntl_AJuPi4Khz-qP_9qL9T5R4kDuk...ize_mode=3]](https://photos-1.dropbox.com/t/2/AABWAm4JZrDii6gF6FbWEnV8_Lxt0Bgg5j-0Y1WowZ7vZQ/12/10143121/png/32x32/1/_/1/2/Screenshot.png/ENrKyAcYhIgBIAIoAg/34wMBeveMdKntl_AJuPi4Khz-qP_9qL9T5R4kDuknmo?size=2048x1536&size_mode=3)
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I'm looking at it now. Thanks for naming the files like that, and for doing lots of acro, way more to work with now! 
Also, your flying is fun to watch, so that's a bonus 