22-Jan-2017, 05:00 AM
Hello!
I've been reading a lot and trying to follow examples and tutorials but could definately use some help. This build is my first build and I'd consider my first quad/RC/drone/whatever. I did buy a HolyStone F181 about a week before I built this one! hah! So it's hard for me to tune without knowing how it should feel, and I'm still waiting for my TBS Unify Pro HV that's on back order, so I'm just flying LOS.
My setup:
All said and done I'm not trying to tune this and have no idea why there's little ripples in the gyro on Betaflight Blackbox and why the magnitue of my PID graphs look almost non existent. Am I not suppose to have some good sine waves on them? I know with the original PID values I was seeing crazy fast sine waves with large amplitude (and the quad would try to fly off on its own sporadically ...was afraid to fly it until I figured out it was the PID values.)
I also followed a tutorial on setting the D-term notch filter.
Here's my CLI dump:
Should I set debug_mode to NONE if not messing with NOTCH filter anymore? Would this be why the amplitude is so low on PID waves?
Also, I followed another tutorial for setting up blackbox and I put the logging rate to 250 Hz (which is 3% in my case, I'm assuming that's going off the 8 kHz I have set up for gyro sampling?) I'm not sure if this is good/bad/correct for doing PID tuning.
Here are the two logs I have. I tried to fly forward, then back, do some rolls and flips, and fly left and right with roll. (I'm learning in acro and have decided not to use Angle or Horizontal modes.)
I really appreciate any help. I've been raising/lowing PID values. I'd love for anyone to explain some of what they see in here, what's good, what's bad, and why I see so much "ripple" in the gyro. (I'm still using Google to look for as much of this as I can find and cram in. I've pretty much learned all I have so far in 2 weeks ...hah! Love this stuff.)
Thanks again!
I've been reading a lot and trying to follow examples and tutorials but could definately use some help. This build is my first build and I'd consider my first quad/RC/drone/whatever. I did buy a HolyStone F181 about a week before I built this one! hah! So it's hard for me to tune without knowing how it should feel, and I'm still waiting for my TBS Unify Pro HV that's on back order, so I'm just flying LOS.
My setup:
- Sparrow Knight R220
- Fury F3 FC
- Matek HUBOSD PDB
- TBS Bulletproof 25a (filter cap removed on each) ESCs
- Emax RS2205 2300kV motors
- RunCam Owl Plus
- RaceKraft 5051 props
- FrSky XSR RX
- TBS Tango radio with FrSky XJT TX
- (Backorder) TBS Unify Pro HV VTX
All said and done I'm not trying to tune this and have no idea why there's little ripples in the gyro on Betaflight Blackbox and why the magnitue of my PID graphs look almost non existent. Am I not suppose to have some good sine waves on them? I know with the original PID values I was seeing crazy fast sine waves with large amplitude (and the quad would try to fly off on its own sporadically ...was afraid to fly it until I figured out it was the PID values.)
I also followed a tutorial on setting the D-term notch filter.
Here's my CLI dump:
Code:
# version
# Betaflight / FURYF3 3.1.0 Jan 19 2017 / 00:36:53 (8f017b9)
# name
name -
# resources
resource BEEPER C15
resource MOTOR 1 B07
resource MOTOR 2 B06
resource MOTOR 3 B05
resource MOTOR 4 B04
resource MOTOR 5 NONE
resource MOTOR 6 NONE
resource MOTOR 7 NONE
resource MOTOR 8 NONE
resource MOTOR 9 NONE
resource MOTOR 10 NONE
resource MOTOR 11 NONE
resource MOTOR 12 NONE
resource SERVO 1 NONE
resource SERVO 2 NONE
resource SERVO 3 NONE
resource SERVO 4 NONE
resource SERVO 5 NONE
resource SERVO 6 NONE
resource SERVO 7 NONE
resource SERVO 8 NONE
resource PPM B03
resource PWM 1 B00
resource PWM 2 B01
resource PWM 3 NONE
resource PWM 4 NONE
resource PWM 5 NONE
resource PWM 6 NONE
resource PWM 7 NONE
resource PWM 8 NONE
resource SONAR_TRIGGER B00
resource SONAR_ECHO B01
resource LED_STRIP A08
# mixer
mixer QUADX
mmix reset
# 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
# servo mix
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 -OSD
feature -BLACKBOX
feature -CHANNEL_FORWARDING
feature -TRANSPONDER
feature -AIRMODE
feature -SDCARD
feature -VTX
feature -RX_SPI
feature -SOFTSPI
feature -ESC_SENSOR
feature VBAT
feature RX_SERIAL
feature FAILSAFE
feature TELEMETRY
feature LED_STRIP
feature BLACKBOX
feature SDCARD
# 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 20 1 115200 57600 0 115200
serial 0 0 115200 57600 0 115200
serial 1 32 115200 57600 0 115200
serial 2 64 115200 57600 0 115200
# led
led 0 7,8::L:0
led 1 7,7::L:0
led 2 8,7::L:0
led 3 8,8::L:0
led 4 0,0::C:0
led 5 0,0::C:0
led 6 0,0::C:0
led 7 0,0::C:0
led 8 0,0::C:0
led 9 0,0::C:0
led 10 0,0::C:0
led 11 0,0::C:0
led 12 0,0::C:0
led 13 0,0::C:0
led 14 0,0::C:0
led 15 0,0::C:0
led 16 0,0::C:0
led 17 0,0::C:0
led 18 0,0::C:0
led 19 0,0::C:0
led 20 0,0::C:0
led 21 0,0::C:0
led 22 0,0::C:0
led 23 0,0::C:0
led 24 0,0::C:0
led 25 0,0::C:0
led 26 0,0::C:0
led 27 0,0::C:0
led 28 0,0::C:0
led 29 0,0::C:0
led 30 0,0::C:0
led 31 0,0::C: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
# mode_color
mode_color 0 0 1
mode_color 0 1 11
mode_color 0 2 2
mode_color 0 3 13
mode_color 0 4 10
mode_color 0 5 3
mode_color 1 0 5
mode_color 1 1 11
mode_color 1 2 3
mode_color 1 3 13
mode_color 1 4 10
mode_color 1 5 3
mode_color 2 0 10
mode_color 2 1 11
mode_color 2 2 4
mode_color 2 3 13
mode_color 2 4 10
mode_color 2 5 3
mode_color 3 0 8
mode_color 3 1 11
mode_color 3 2 4
mode_color 3 3 13
mode_color 3 4 10
mode_color 3 5 3
mode_color 4 0 7
mode_color 4 1 11
mode_color 4 2 3
mode_color 4 3 13
mode_color 4 4 10
mode_color 4 5 3
mode_color 5 0 9
mode_color 5 1 11
mode_color 5 2 2
mode_color 5 3 13
mode_color 5 4 10
mode_color 5 5 3
mode_color 6 0 6
mode_color 6 1 10
mode_color 6 2 1
mode_color 6 3 0
mode_color 6 4 0
mode_color 6 5 2
mode_color 6 6 3
mode_color 6 7 6
mode_color 6 8 0
mode_color 6 9 0
mode_color 6 10 0
mode_color 7 0 3
# aux
aux 0 0 0 1300 2100
aux 1 27 0 1700 2100
aux 2 1 2 1300 1700
aux 3 2 2 1700 2100
aux 4 12 3 1700 2100
aux 5 25 1 1700 2100
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
# 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
# master
set task_statistics = ON
set mid_rc = 1500
set min_check = 1100
set max_check = 1900
set rssi_channel = 0
set rssi_scale = 30
set rc_interpolation = AUTO
set rc_interpolation_channels = RP
set rc_interpolation_interval = 19
set rssi_ppm_invert = OFF
set input_filtering_mode = OFF
set roll_yaw_cam_mix_degrees = 0
set max_aux_channels = 6
set debug_mode = NOTCH
set min_throttle = 1070
set max_throttle = 2000
set min_command = 1000
set digital_idle_percent = 3.000
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
set use_unsynced_pwm = OFF
set motor_pwm_protocol = DSHOT600
set motor_pwm_rate = 400
set disarm_kill_switch = OFF
set gyro_cal_on_first_arm = OFF
set auto_disarm_delay = 5
set small_angle = 25
set fixedwing_althold_dir = 1
set reboot_character = 82
set serial_update_rate_hz = 100
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 beeper_inversion = ON
set beeper_od = OFF
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 sport_halfduplex = 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 pid_values_as_telemetry = OFF
set ibus_report_cell_voltage = OFF
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_hysteresis = 1
set current_meter_scale = 400
set current_meter_offset = 0
set multiwii_current_meter_output = OFF
set current_meter_type = ADC
set battery_meter_type = ADC
set battery_notpresent_level = 55
set use_vbat_alerts = ON
set use_consumption_alerts = OFF
set consumption_warning_percentage = 10
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 gyro_lpf = OFF
set gyro_sync_denom = 1
set gyro_isr_update = OFF
set gyro_use_32khz = OFF
set gyro_lowpass_type = PT1
set gyro_lowpass = 90
set gyro_notch1_hz = 400
set gyro_notch1_cutoff = 300
set gyro_notch2_hz = 200
set gyro_notch2_cutoff = 100
set moron_threshold = 48
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set alt_hold_deadband = 40
set alt_hold_fast_change = ON
set deadband = 5
set yaw_deadband = 3
set throttle_correction_value = 0
set throttle_correction_angle = 800
set yaw_control_direction = 1
set yaw_motor_direction = 1
set servo_center_pulse = 1500
set tri_unarmed_servo = ON
set servo_lowpass_freq = 400
set servo_lowpass_enable = OFF
set servo_pwm_rate = 50
set gimbal_mode = NORMAL
set airmode_activate_throttle = 1350
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 = DROP
set rx_min_usec = 885
set rx_max_usec = 2115
set acc_hardware = AUTO
set acc_lpf_hz = 10
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 pid_process_denom = 1
set blackbox_rate_num = 1
set blackbox_rate_denom = 32
set blackbox_device = SDCARD
set blackbox_on_motor_test = OFF
set ledstrip_visual_beeper = OFF
set sdcard_dma = ON
set displayport_msp_col_adjust = 0
set displayport_msp_row_adjust = 0
# 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 = 500
set pidsum_limit = 0.500
set dterm_lowpass_type = BIQUAD
set dterm_lowpass = 100
set dterm_notch_hz = 200
set dterm_notch_cutoff = 100
set vbat_pid_compensation = OFF
set pid_at_min_throttle = ON
set anti_gravity_threshold = 300
set anti_gravity_gain = 4.000
set setpoint_relax_ratio = 30
set dterm_setpoint_weight = 200
set yaw_accel_limit = 10.000
set accel_limit = 0.000
set accum_threshold = 200
set yaw_accum_threshold = 55
set yaw_lowpass = 0
set p_pitch = 30
set i_pitch = 40
set d_pitch = 12
set p_roll = 30
set i_roll = 30
set d_roll = 10
set p_yaw = 35
set i_yaw = 35
set d_yaw = 20
set p_alt = 50
set i_alt = 0
set d_alt = 0
set p_level = 50
set i_level = 50
set d_level = 100
set p_vel = 55
set i_vel = 55
set d_vel = 75
set level_stick_sensitivity = 55
set level_angle_limit = 55
rateprofile 0
# rateprofile
rateprofile 0
set rc_rate = 100
set rc_rate_yaw = 100
set rc_expo = 0
set rc_yaw_expo = 0
set thr_mid = 50
set thr_expo = 0
set roll_srate = 70
set pitch_srate = 70
set yaw_srate = 70
set tpa_rate = 10
set tpa_breakpoint = 1650Should I set debug_mode to NONE if not messing with NOTCH filter anymore? Would this be why the amplitude is so low on PID waves?
Also, I followed another tutorial for setting up blackbox and I put the logging rate to 250 Hz (which is 3% in my case, I'm assuming that's going off the 8 kHz I have set up for gyro sampling?) I'm not sure if this is good/bad/correct for doing PID tuning.
Here are the two logs I have. I tried to fly forward, then back, do some rolls and flips, and fly left and right with roll. (I'm learning in acro and have decided not to use Angle or Horizontal modes.)
I really appreciate any help. I've been raising/lowing PID values. I'd love for anyone to explain some of what they see in here, what's good, what's bad, and why I see so much "ripple" in the gyro. (I'm still using Google to look for as much of this as I can find and cram in. I've pretty much learned all I have so far in 2 weeks ...hah! Love this stuff.)
Thanks again!
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