Posts: 3 Threads: 1 Likes Received: 0 in 0 posts Likes Given: 0 Joined: Apr 2017 Reputation: 0 I could do with some help/advise on tuning. My setup is: Robocat 270 CF Frame Naze 32 Full Rev 6 (running Cleanflight) MT2204 2300KV Simonk 12A ESC 6030 CF Prop 2200mAh 3S LiPo I know the ESCs/Motors may not be the best but it's all I've got to play with. I originally started off with a CC3D which seemed fairly simple to tune, it reacted how I expected it to. Now I've switched to the Naze/Cleanflight I'm becoming quite confused. I've read article after article and watched lots of y/t videos. I'm on about 3 hours of tuning so far. Latest logs/PIDs (from tonights tuning session): BB logs here: https://drive.google.com/open?id=0B0EQnv...nNZMUVjeHM PID screenshot here: https://drive.google.com/file/d/0B0EQnvL...sp=sharing I also did a tuning session last night: BB logs here: https://drive.google.com/open?id=0B0EQnv...2R0VjJHVWM PID screenshot here: https://drive.google.com/open?id=0B0EQnv...kVxek5jZ1E Also, as a side point I can't seem to get the battery settings working correctly, it does not calculate the cell count accurately. I've looked around and read a few guides etc and have got no further to getting it working. Any help/advice appreciated. ![[-]](https://intofpv.com/images/collapse.png) • Posts: 2,286 Threads: 38 Likes Received: 1,527 in 995 posts Likes Given: 1,881 Joined: Apr 2016 Reputation: 72 I notice you are flying with the LuxFloat PID controller on the F1 based Naze32 flight controller. As the F1 does not have a floating point unit, LuxFloat is a bad match for this older flight controller.
My suggestion to you would be:
1. Select the MWRewrite PID controller.
2. Reset the PID parameters to default.
3. Go and have a fly!
The battery monitor should work fine with the default settings as well. I assume you have full battery voltage connected to the VBat pads on the Naze32?
After you've changed PID controller, set the PID parameters to default and had a fly, if you think there is something wrong with how the quad handles, try to describe what you think is not right. Also, post a CLI dump so that we can see how you have set everything up. A few photos of the build and how everything is connected would really help as well. You'd be surprised how much more experienced builders can spot from some well focussed high resolution photos! • Posts: 3 Threads: 1 Likes Received: 0 in 0 posts Likes Given: 0 Joined: Apr 2017 Reputation: 0 06-Apr-2017, 03:02 PM (This post was last modified: 06-Apr-2017, 03:03 PM by CodeWriter.) Thanks, useful advice. I had just left it on the default PID controller (LuxFloat) but have changed to MWRewrite. The tuning 'method' I use is fly (30 seconds), tune, fly... and I keep track of the PID settings on each flight to refer to when viewing logs. Here are PID settings tried, BB log and CLI dump. On the last settings I was noticing some fairly fast oscillations (of about 1cm @ end of motor arms) becoming worse on maneuvering. BB Log: https://drive.google.com/open?id=0B0EQnv...2xaMHA0Wms PID Settings tried: Code: Flight 1 (Defaults)
Roll P Roll I Roll D
40 30 23
Pitch P Pitch I Pitch D
40 30 23
Flight 2
Roll P Roll I Roll D
35 30 23
Pitch P Pitch I Pitch D
35 30 23
Flight 3
Roll P Roll I Roll D
38 30 25
Pitch P Pitch I Pitch D
38 30 25
Flight 4
Roll P Roll I Roll D
36 30 27
Pitch P Pitch I Pitch D
36 30 27
Flight 5
Roll P Roll I Roll D
45 30 27
Pitch P Pitch I Pitch D
45 30 27
Flight 6
Roll P Roll I Roll D
43 30 27
Pitch P Pitch I Pitch D
43 30 27
Flight 7
Roll P Roll I Roll D
47 30 27
Pitch P Pitch I Pitch D
47 30 27
Flight 8
Roll P Roll I Roll D
40 30 27
Pitch P Pitch I Pitch D
40 30 27
Flight 9
Roll P Roll I Roll D
42 30 27
Pitch P Pitch I Pitch D
42 30 27
Flight 10
Roll P Roll I Roll D
49 30 27
Pitch P Pitch I Pitch D
49 30 27
Flight 11
Roll P Roll I Roll D
35 30 27
Pitch P Pitch I Pitch D
35 30 27
Flight 12
Roll P Roll I Roll D
42 30 27
Pitch P Pitch I Pitch D
42 30 27
Flight 13
Roll P Roll I Roll D
42 35 30
Pitch P Pitch I Pitch D
42 35 30
Flight 14
Roll P Roll I Roll D
42 32 27
Pitch P Pitch I Pitch D
42 32 27
CLI Dump: Code: # version
# Cleanflight/NAZE 1.14.2 Dec 31 2016 / 02:12:34 (747971f)
# 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 -AMPERAGE_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 -TRANSPONDER
feature -OSD
feature RX_PPM
feature VBAT
feature FAILSAFE
feature BLACKBOX
# map
map AETR1234
# serial
serial 0 1 115200 57600 0 115200
serial 1 0 115200 57600 0 115200
# led
led 0 15,15:ES:AI:0
led 1 15,8:E:FW:0
led 2 15,7:E:FW:0
led 3 15,0:NE:AI:0
led 4 8,0:N:F:0
led 5 7,0:N:F:0
led 6 0,0:NW:AI:0
led 7 0,7:W:FW:0
led 8 0,8:W:FW:0
led 9 0,15:SW:AI:0
led 10 7,15:S:FW:0
led 11 8,15:S:FW:0
led 12 7,7:U:FW:0
led 13 8,7:U:FW:0
led 14 7,8:D:FW:0
led 15 8,8:D:FW: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::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
set debug_mode = NONE
set emf_avoidance = OFF
set i2c_highspeed = ON
set flashchip_id = 2144792
set flashchip_nsect = 256
set flashchip_pps = 256
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 rx_min_usec = 885
set rx_max_usec = 2115
set serialrx_provider = SPEK1024
set sbus_inversion = ON
set spektrum_sat_bind = 0
set input_filtering_mode = OFF
set min_throttle = 1185
set max_throttle = 1850
set min_command = 1000
set motor_pwm_rate = 400
set servo_center_pulse = 1500
set servo_pwm_rate = 50
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set retarded_arm = OFF
set disarm_kill_switch = ON
set auto_disarm_delay = 5
set max_arm_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 telemetry_switch = OFF
set telemetry_inversion = OFF
set telemetry_send_cells = 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 ibus_report_cell_voltage = OFF
set battery_capacity = 0
set vbat_scale = 110
set vbat_max_cell_voltage = 39
set vbat_min_cell_voltage = 34
set vbat_warning_cell_voltage = 36
set amperage_meter_scale = 0
set amperage_meter_offset = 0
set multiwii_amperage_meter_output = OFF
set amperage_meter_source = VIRTUAL
set vbat_hysteresis = 1
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 small_angle = 25
set max_angle_inclination = 500
set pid_process_denom = 1
set gyro_sync = 1
set gyro_sample_hz = 1000
set gyro_lpf = OFF
set gyro_lowpass_level = NORMAL
set gyro_lowpass_hz = 90
set gyro_notch_hz = 130
set gyro_notch_cutoff_hz = 130
set moron_threshold = 32
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set pid_at_min_throttle = ON
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 acc_hardware = 0
set baro_hardware = 0
set mag_hardware = 0
set blackbox_rate_num = 1
set blackbox_rate_denom = 1
set blackbox_device = SPIFLASH
set magzero_x = -5
set magzero_y = 32
set magzero_z = -144
# 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
# aux
aux 0 2 0 900 2100
aux 1 3 0 900 1800
aux 2 4 0 900 2100
aux 3 25 0 900 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
# adjrange
adjrange 0 0 0 1550 2100 18 1
adjrange 1 0 0 900 1450 15 1
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
# rxrange
rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000
# servo
servo 0 1000 2000 1500 100 -1
servo 1 1000 2000 1500 100 -1
servo 2 1000 2000 1500 100 -1
servo 3 1000 2000 1500 100 -1
servo 4 1000 2000 1500 100 -1
servo 5 1000 2000 1500 100 -1
servo 6 1000 2000 1500 100 -1
servo 7 1000 2000 1500 100 -1
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 = OFF
set deadband = 0
set yaw_deadband = 40
set yaw_control_direction = 1
set 3d_deadband_throttle = 50
set throttle_correction_value = 0
set throttle_correction_angle = 800
set default_rate_profile = 0
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_controller = MWREWRITE
set p_pitch = 42
set i_pitch = 32
set d_pitch = 27
set p_roll = 42
set i_roll = 32
set d_roll = 27
set p_yaw = 85
set i_yaw = 45
set d_yaw = 0
set p_alt = 50
set i_alt = 0
set d_alt = 0
set p_level = 20
set i_level = 10
set d_level = 75
set p_vel = 120
set i_vel = 45
set d_vel = 1
set pid_delta_method = MEASUREMENT
set yaw_p_limit = 500
set yaw_lpf_hz = 0
set dterm_lowpass_level = HIGH
set dterm_lowpass_hz = 100
set horizon_tilt_effect = 75
set horizon_tilt_mode = SAFE
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 0
set rc_rate = 90
set rc_expo = 65
set rc_yaw_expo = 0
set thr_mid = 50
set thr_expo = 0
set roll_rate = 0
set pitch_rate = 0
set yaw_rate = 0
set tpa_rate = 0
set tpa_breakpoint = 1500
#
Pics of quad: https://drive.google.com/open?id=0B0EQnv...2lQVTBQU0k https://drive.google.com/open?id=0B0EQnv...0pkdFpiUUE https://drive.google.com/open?id=0B0EQnv...DBxZklNdnc • Posts: 2,286 Threads: 38 Likes Received: 1,527 in 995 posts Likes Given: 1,881 Joined: Apr 2016 Reputation: 72 Hmmm.... Your D-term is oscillating wildly and is most likely what is causing the rapid oscillations you are seeing: ![[Image: D_zpsgfqsn9z2.png]](http://i1156.photobucket.com/albums/p579/grizewald/Mobile%20Uploads/2017-04/D_zpsgfqsn9z2.png) I also see quite a bit of vibration getting into the gyro readings for the roll axis: ![[Image: g-roll_zps6edyrksx.png]](http://i1156.photobucket.com/albums/p579/grizewald/Mobile%20Uploads/2017-04/g-roll_zps6edyrksx.png) This vibration would seem to be what your D-term is overreacting to. It's not that much vibration, but the 6500 IMU on the rev6 Naze32 is overly sensitive to vibration when the flight controller is hard mounted like yours is. The first thing I'd suggest that you do is to reduce the D-term for both pitch and roll axes to 10 and see how it flies then. That rapid D-term oscillation is not good for your motors and can easily cause them to overheat. Are they really hot when you land? Also, I'm really surprised you don't get failsafe problems with the antennas mounted as you have them. Carbon fibre is conductive and therefore does not pass radio signals. The way your antennas are mounted is going to give the receiver a really hard time hearing your radio. The fact that the quad isn't dropping out of the sky is testament to how good the FlySky iA6B receiver is. The ideal placement for your antennas is 90 degrees apart from each other and with a clear line of sight from your radio to the antennas when the quad is in the air. Your problems with battery voltage reading is caused by the fact you have set the maximum cell voltage to 3.9 volts. A fully charged cell will have 4.2 volts and the firmware uses these values to work out how many cells your battery has. It can only see the total voltage from the battery, so it has to work out how many cells you have by dividing the voltage that it sees from the battery by the maximum cell voltage. If you set it too low, then when you plug in a freshly charged battery, it will probably think you have a 4S when you actually have a 3S. This will then make it incorrectly divide the battery voltage by 4 to work out what the average voltage on the individual cells is. The settings for min_throttle and max_throttle are still the default values. Have you calibrated the ESCs? If you calibrate using the default min and max values, you'll be losing resolution in the throttle signal as your throttle range is much less than the 1000 - 2000 than it should be. • Posts: 3 Threads: 1 Likes Received: 0 in 0 posts Likes Given: 0 Joined: Apr 2017 Reputation: 0 Had another tuning session this evening, dropped 'D' as recommended, flew a couple of times increasing D slightly as it flew terribly with low D. Set up the 'Adjustments' to be able to tune in flight with some good results, but still not there yet. I had read about excess D making motors hot and usually feel them to check but haven't noticed any real heat so far. Latest PIDs: Roll P Roll I Roll D 43 31 15 Pitch P Pitch I Pitch D 44 29 15 BB Log: https://drive.google.com/open?id=0B0EQnv...VRTQzgxc1E When hovering things seem fairly stable but on hard roll/pitch I get alot of oscillation/bouncing. On lowering the throttle it is a bit bouncy too. I may be completely wrong but these are the main things I spot on logs, your observations are appreciated though: Maybe D on Roll is a bit high? ![[Image: 2zsxrhg.png]](http://i66.tinypic.com/2zsxrhg.png) Not so sure on this one, but maybe slightly less I on Pitch and P on Roll/Pitch slightly reduced? ![[Image: 34xn9mr.png]](http://i66.tinypic.com/34xn9mr.png) Haven't had any RX/Failsafe problems so far, gone max about 100m out from TX without issue. But I do know they aren't necessarily in the best place but I had trouble finding good placement on the robocat, especially with the hinged body the wires aren't really long enough to be routed up-top. The FlySky IA6B is great though. Up until today the battery max was set to 4.2v and still had the same problems, set it to 3.8/3.9 as a sort of experiment to see what effect it had. I have researched the math Cleanflight does and still can't work out why its not working. The only param I am unsure about is the 'Battery Capacity', cant seem to find a definitive answer of what this is for or what units this is meant to be entered in. I would assume mAh though? Might have a look through the firmware code (I'm a computer programmer by day so understand it mostly). ![[Image: wb5nk6.png]](http://i68.tinypic.com/wb5nk6.png) ESCs have been calibrated in the normal way. I believe I adjusted Min_throttle to slightly higher than default, current setting is the min required for props to spin at idle, previously had to throttle up before takeoff to get them all spinning. Haven't adjusted max throttle, my only concern would be that as I am only running 12A ESCs I don't want to blow them. I have a couple spare and I'm intending on upgrading to 20A/better quality at some point butt not in the near future. Appreciate the help you've given me. • Posts: 1,149 Threads: 50 Likes Received: 704 in 450 posts Likes Given: 1,189 Joined: Sep 2016 Reputation: 30 Min_throttle should be a bit higher than what is needed to just make them spin. If props spin too slow at idle it can take them too long to react (bad propwash behaviour or even desync and alike on harder moves). • Posts: 2,286 Threads: 38 Likes Received: 1,527 in 995 posts Likes Given: 1,881 Joined: Apr 2016 Reputation: 72 OK, I'll address your comments in reverse order.
The battery capacity field is only useful if you have a current sensor. If the flight controller can measure how much current is being drawn at any moment, if can subtract that from the specified capacity as the flight progresses. This can then be used to signal a low battery alarm based on how much capacity is left in the battery. This is often a much more accurate metric than only using voltage to determine when you need to land and also allows you to specify a safety margin so that you have enough power left to fly back to where you are and land safely before the battery runs out.
A current sensor can either be hardware - based on a shunt resistor or Hall effect current sensor - or a virtual sensor which you can calibrate based on measuring how much current your craft actually draws from the battery at zero and full throttle with a plug-in meter. Or, you can work out the settings for the virtual sensor by starting at the default settings and comparing how much capacity the flight controller thinks you used with how much you put back into the battery when recharging it. The virtual sensor uses the throttle position to estimate how much current is being drawn. It's not particularly accurate.
You can check the settings for your voltage sensor on the bench. Reset the VBAT settings to their defaults which are max: 43, min: 33, warning: 35 and scale:110. Plug the battery in and use a multimeter to see if the battery voltage shown in the configurator is the same as what you see on your multimeter. If it is the same then you can leave the settings at defaults. If it's a few tenths of a volt different, you can adjust the scale value slightly until the values match. If it's wildly different, there is something wrong. Either you have not connected full battery voltage to the VBAT pins or the voltage sensor circuitry is damaged.
ESC calibration needs to be done properly. If you have calibrated with your current min and max throttle settings, then you are not keeping the maximum power you are asking for artificially low as you think you are. When you calibrate the ESCs, what you are doing is saying 'this is what my minimum and maximum throttle settings look like'. The ESCs measure the throttle signal during calibration and then store the min and max values. Therefore, whatever you set the max throttle to during calibration will be what the ESC has taken to be 100% power output. With the motors and propellers you have, the ESCs are adequately rated to deliver 100% power without damage.
If the range between min and max throttle is smaller than 1000 microseconds (as it is in your case), then the number of steps between 0% power and 100% power will be fewer. This gives you less fine grained control. If there are more steps, you have finer control.
What you should do is this:
Check that you have set up your radio properly. In the receiver tab on the configurator, the first four channels should start at 1000 and go all the way to 2000. The roll, pitch and yaw channels should be at 1500 when the sticks are centred. If you don't currently have this then you should use the travel adjustment and sub-trim functions on your radio to make it so.
To calibrate the ESCs, set your min and max throttle values to 1000 and 2000. Calibrate the ESCs using the motors tab - with the battery disconnected, put the master slider to full, plug in the battery and wait for the initial beeps from the ESCs to stop, then press the 'End' key to move the master slider to minimum, wait for the ESCs to stop beeping, unplug the battery, disconnect from the configurator and remove the USB cable. Calibration is now completed. Then, reconnect to the configurator, plug the battery in again and using the motors tab, (no props!!), test each motor individually. Slowly raise the signal to the motor until it just starts spinning without hesitation. Do that for each motor and make a note of the throttle value that was needed. Once you have tested all four motors, take the highest value you noted and add 20 to it. Set that as your min_throttle value. Finally, you should adjust the min_check value in the CLI and set it to be ten points higher than what you set min_throttle to.
If you follow this procedure, you'll have better response from your motors and smoother control.
I'll come back with my comments on tuning in the next post... Posts: 2,286 Threads: 38 Likes Received: 1,527 in 995 posts Likes Given: 1,881 Joined: Apr 2016 Reputation: 72 From what I've read, the Robocat is a difficult quad to tune. The fact that you have a flight controller with a gyro that picks up lots of noise doesn't help either. You are also trying to tune in a self levelling flight mode from what I can see and that's far from optimal as it's hard to see what is actually happening. Tuning really needs to be done in rate mode, but unless you can already fly rate mode, that's difficult. What I did find was some PIDs for Cleanflight and the MWRewrite PID controller that might be more in the ballpark of what you need. They may not be perfect, but they will at least be a better starting point: ![[Image: robo-PIDs_zpsmzwmwxjs.jpg]](http://i1156.photobucket.com/albums/p579/grizewald/Mobile%20Uploads/2017-04/robo-PIDs_zpsmzwmwxjs.jpg) However, I'd like to make another suggestion to you. The version of Cleanflight you are running at the moment is effectively abandonware. Development on that branch has stopped and Cleanflight development has restarted based on the latest Betaflight code. Betaflight is very stable these days and is far from 'beta' firmware any more. More importantly for you, Betaflight includes advanced filtering to improve its ability to see the important information from the gyros in the sea of noise which is your average quadcopter. It also has a single, new PID controller which is vastly more tolerant of differing quads and propulsion systems. It flies just about anything well with the default PID settings. If the Cleanflight PIDs that I've posted don't help, I'd seriously counsel you to install the latest 3.1.7 release of Betaflight instead. You may be very pleasantly surprised! As you are a fellow code monkey, you won't find Betaflight any harder than Cleanflight and even if it doesn't improve things for you, as long as you save a CLI dump from Cleanflight, you can easily get back to where you are now. • Posts: 2,286 Threads: 38 Likes Received: 1,527 in 995 posts Likes Given: 1,881 Joined: Apr 2016 Reputation: 72 One last thing. It may help to get some anti-vibration mounts for your flight controller and mechanically filter out some of the noise. I've used these: http://www.flyingtech.co.uk/frames-props...spacers-m3 on various builds and they work very well. • |
