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acrossiff · 12-Mar-2016, 05:53 PM

Hi.

I didn't have blackbox enabled FC before and i was ok with Betaflight defaults most of the times. Now i have an FC that is capable of recording blackbox and i feel i should finally start tuning PIDs properly. Even when looking at various online guides i can't get my head around it. For me it seems that the P [roll,pitch] should be lowered because the traces are in big waves. Am i wrong? Have a look for yourselves.

Link to blackbox log
cli dump:

Code:
# dump cli
 
 # version
 # BetaFlight/SPRACINGF3 2.5.3 Mar  6 2016 / 14:16:14 (0aac025)
 # dump master
 
 # mixer
 mixer QUADX
 mmix reset
 smix reset
 
 
 # feature
 feature -RX_PPM
 feature -VBAT
 feature -INFLIGHT_ACC_CAL
 feature -RX_SERIAL
 feature -MOTOR_STOP
 feature -SERVO_TILT
 feature -SOFTSERIAL
 feature -GPS
 feature -FAILSAFE
 feature -SONAR
 feature -TELEMETRY
 feature -CURRENT_METER
 feature -3D
 feature -RX_PARALLEL_PWM
 feature -RX_MSP
 feature -RSSI_ADC
 feature -LED_STRIP
 feature -DISPLAY
 feature -ONESHOT125
 feature -BLACKBOX
 feature -CHANNEL_FORWARDING
 feature VBAT
 feature RX_SERIAL
 feature FAILSAFE
 feature TELEMETRY
 feature ONESHOT125
 feature BLACKBOX
 
 
 # beeper
 beeper  GYRO_CALIBRATED
 beeper  RX_LOST
 beeper  RX_LOST_LANDING
 beeper  DISARMING
 beeper  ARMING
 beeper  ARMING_GPS_FIX
 beeper  BAT_CRIT_LOW
 beeper  BAT_LOW
 beeper  GPS_STATUS
 beeper  RX_SET
 beeper  ACC_CALIBRATION
 beeper  ACC_CALIBRATION_FAIL
 beeper  READY_BEEP
 beeper  MULTI_BEEPS
 beeper  DISARM_REPEAT
 beeper  ARMED
 beeper  SYSTEM_INIT
 beeper  ON_USB
 
 
 # map
 map AETR1234
 
 
 # serial
 serial 0 1 115200 57600 0 115200
 serial 1 32 115200 57600 0 115200
 serial 2 64 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
 
 # aux
 aux 0 0 1 1600 2100
 aux 1 27 0 1375 2100
 aux 2 25 0 1725 2100
 aux 3 0 0 900 900
 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
 
 # adjrange
 adjrange 0 0 0 900 900 0 0
 adjrange 1 0 0 900 900 0 0
 adjrange 2 0 0 900 900 0 0
 adjrange 3 0 0 900 900 0 0
 adjrange 4 0 0 900 900 0 0
 adjrange 5 0 0 900 900 0 0
 adjrange 6 0 0 900 900 0 0
 adjrange 7 0 0 900 900 0 0
 adjrange 8 0 0 900 900 0 0
 adjrange 9 0 0 900 900 0 0
 adjrange 10 0 0 900 900 0 0
 adjrange 11 0 0 900 900 0 0
 adjrange 12 0 0 900 900 0 0
 adjrange 13 0 0 900 900 0 0
 adjrange 14 0 0 900 900 0 0
 
 # rxrange
 rxrange 0 1000 2000
 rxrange 1 1000 2000
 rxrange 2 1000 2000
 rxrange 3 1000 2000
 
 # servo
 servo 0 1000 2000 1500 90 90 100 -1
 servo 1 1000 2000 1500 90 90 100 -1
 servo 2 1000 2000 1500 90 90 100 -1
 servo 3 1000 2000 1500 90 90 100 -1
 servo 4 1000 2000 1500 90 90 100 -1
 servo 5 1000 2000 1500 90 90 100 -1
 servo 6 1000 2000 1500 90 90 100 -1
 servo 7 1000 2000 1500 90 90 100 -1
 
 set mid_rc = 1500
 set min_check = 1040
 set max_check = 1900
 set rssi_channel = 0
 set rssi_scale = 30
 set rssi_ppm_invert = OFF
 set input_filtering_mode = OFF
 set rc_smoothing = OFF
 set roll_yaw_cam_mix_degrees = 0
 set max_aux_channels = 2
 set debug_mode = NONE
 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 use_oneshot42 = OFF
 set use_multishot = OFF
 set motor_pwm_rate = 400
 set servo_pwm_rate = 50
 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 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 serialrx_provider = SBUS
 set sbus_inversion = ON
 set spektrum_sat_bind = 0
 set spektrum_sat_bind_autoreset = 1
 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 frsky_vfas_cell_voltage = OFF
 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 vbat_pid_compensation = OFF
 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 = 0
 set max_angle_inclination = 700
 set gyro_lpf = OFF
 set gyro_sync_denom = 2
 set gyro_soft_lpf =  60.000
 set moron_threshold = 32
 set imu_dcm_kp = 2500
 set imu_dcm_ki = 0
 set alt_hold_deadband = 40
 set alt_hold_fast_change = ON
 set deadband = 0
 set yaw_deadband = 0
 set throttle_correction_value = 0
 set throttle_correction_angle = 800
 set yaw_control_direction = 1
 set yaw_motor_direction = 1
 set yaw_jump_prevention_limit = 200
 set tri_unarmed_servo = ON
 set servo_lowpass_freq = 400
 set servo_lowpass_enable = OFF
 set acro_plus_factor = 30
 set acro_plus_offset = 40
 set failsafe_delay = 10
 set failsafe_off_delay = 10
 set failsafe_throttle = 1000
 set failsafe_kill_switch = OFF
 set failsafe_throttle_low_delay = 100
 set failsafe_procedure = OFF
 set rx_min_usec = 885
 set rx_max_usec = 2115
 set gimbal_mode = NORMAL
 set acc_hardware = NONE
 set acc_lpf_hz =  10.000
 set accxy_deadband = 40
 set accz_deadband = 40
 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 baro_hardware = NONE
 set mag_hardware = NONE
 set mag_declination = 0
 set pid_process_denom = 2
 set blackbox_rate_num = 1
 set blackbox_rate_denom = 1
 set blackbox_device = SPIFLASH
 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 0
 
 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 yaw_p_limit = 300
 set pid_delta_method = MEASUREMENT
 set dterm_lpf_hz =  0.000
 set dterm_average_count = 4
 set pid_controller = LUX
 set p_pitch = 54
 set i_pitch = 40
 set d_pitch = 22
 set p_roll = 42
 set i_roll = 40
 set d_roll = 18
 set p_yaw = 90
 set i_yaw = 50
 set d_yaw = 0
 set p_pitchf =  1.400
 set i_pitchf =  0.400
 set d_pitchf =  0.007
 set p_rollf =  1.100
 set i_rollf =  0.400
 set d_rollf =  0.005
 set p_yawf =  2.000
 set i_yawf =  0.400
 set d_yawf =  0.000
 set level_horizon =  4.000
 set level_angle =  4.000
 set sensitivity_horizon = 75
 set p_alt = 50
 set i_alt = 0
 set d_alt = 0
 set p_level = 30
 set i_level = 30
 set d_level = 100
 set p_vel = 120
 set i_vel = 45
 set d_vel = 1
 
 # rateprofile
 rateprofile 0
 
 set rc_rate = 100
 set rc_expo = 100
 set rc_yaw_expo = 30
 set thr_mid = 50
 set thr_expo = 0
 set roll_rate = 60
 set pitch_rate = 60
 set yaw_rate = 90
 set tpa_rate = 0
 set tpa_breakpoint = 1500
 
 # dump rates
 
 # rateprofile
 rateprofile 0
 
 set rc_rate = 100
 set rc_expo = 100
 set rc_yaw_expo = 30
 set thr_mid = 50
 set thr_expo = 0
 set roll_rate = 60
 set pitch_rate = 60
 set yaw_rate = 90
 set tpa_rate = 0
 set tpa_breakpoint = 1500

Oscar · (This post was last modified: 12-Mar-2016, 06:06 PM by Oscar.)

Very nicely tune quad Smile

I like the fact that your motors are spinning very smoothly!

if you are happy with the quad, probably won't have to change much... but if you can try this if you want:

I see slight oscillations on your pitch and roll, also some overshoots after flips/rolls
- decrease pitch P to 5.0
- increase pitch D to 25

- decrease roll P to 4.0
- increase pitch D to 22

- increase yaw P to 10.5
- increase yaw D to 10

Give it some deadbands as well:

set deadband = 6
set yaw_deadband = 6

Lastly it looks like your quad is just a tack tail heavy... maybe move lipo forward just a little.

next time do some punch outs Smile

it also gives you some hint on tuning!

acrossiff · (This post was last modified: 12-Mar-2016, 06:38 PM by acrossiff.)

Thanks for having a look. So the traces should look like that (waves) when doing flips/rolls? When looking at your advice about PID values i was a bit shocked because of those values you advised. I looked at my own cli dump and i can't understand why there are those values as i am using LUXFLOAT (as stated in the dump) but the values are totally different of those that are in my Cleanflight configurator. I am using stock beteaflight Luxfloat PIDS with a bit lowered D - ROLL - 1.1 0.040, 5 , PITCH - 1.4, 0.040, 7, YAW - 2.0, 0.040, 0. I was asking if everything is ok because i have some oscillations when doing hard turns and the quad feels totally different (more agressive, i actually thought that i forgot to change expo) compared when i had betaflight 2.3.5.

EDIT: Nevermind, after those PIDS in cli dump come the real ones.

Code:
set p_pitchf =  1.400
 set i_pitchf =  0.400
 set d_pitchf =  0.007
 set p_rollf =  1.100
 set i_rollf =  0.400
 set d_rollf =  0.005
 set p_yawf =  2.000
 set i_yawf =  0.400
 set d_yawf =  0.000

Oscar · (This post was last modified: 12-Mar-2016, 06:39 PM by Oscar.)

(12-Mar-2016, 06:34 PM)acrossiff Wrote: Thanks for having a look. So the traces should look like that (waves) when doing flips/rolls? When looking at your advice about PID values i was a bit shocked because of those values you advised. I looked at my own cli dump and i can't understand why there are those values as i am using LUXFLOAT (as stated in the dump) but the values are totally different of those that are in my Cleanflight configurator. I am using stock beteaflight Luxfloat PIDS with a bit lowered D - ROLL - 1.1 0.040, 5 , PITCH - 1.4, 0.040, 7, YAW - 2.0, 0.040, 0. I was asking if everything is ok because i have some oscillations when doing hard turns and the quad feels totally different (more agressive, i actually thought that i forgot to change expo) compared when i had betaflight 2.3.5.

oh I see.. there are 2 sets of PID values in there, one for rewrite one for luxfloat. I assumed you are using re-write, but for Luxfloat you can try this.

set p_pitchf = 1.300
set i_pitchf = 0.350
set d_pitchf = 0.010
set p_rollf = 1.000
set i_rollf = 0.450
set d_rollf = 0.007
set p_yawf = 2.100
set i_yawf = 0.50
set d_yawf = 0.001

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