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Need some advices about quad behevior
#1
Hi, I need some advices and help,
I've got little oscillations like 'twiches', they noticeable on cruise at low throttle and even at full throttle. 
(On the HD video it's easy to see at 00:53 for example).
I tried high pids and low pids and the little oscillations always came back..

After changing almost every thing, I have strong feeling that the cause is my motors,
Hope you can look on the videos and logs to make my feeling right..
Also attached screenshots from motor tab testing..

Hope you guys have an idea how to solve it..
Rubi.

Setup:
LRC Freestyle
Cobra 2204 1960KV
Kiss 30a
Naze32 Rev6 Betaflight 2.1.6
Props HQ6045 (Brand new in this video)
D4R-ii

BlackBox File:
https://drive.google.com/file/d/0Bwd...ew?usp=sharing

HD Video:
https://drive.google.com/file/d/0Bwd...ew?usp=sharing

DVR Video:
https://drive.google.com/file/d/0Bwd...ew?usp=sharing

motor1:
   

motor2:
   

motor3:
   

motor4:
   
Reply
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#2
(15-Jan-2016, 03:23 PM)Rubi Liani Wrote: Hi, I need some advices and help,
I've got little oscillations like 'twiches', they noticeable on cruise at low throttle and even at full throttle. 
(On the HD video it's easy to see at 00:53 for example).
I tried high pids and low pids and the little oscillations always came back..

After changing almost every thing, I have strong feeling that the cause is my motors,
Hope you can look on the videos and logs to make my feeling right..
Also attached screenshots from motor tab testing..

Hope you guys have an idea how to solve it..
Rubi.

Setup:
LRC Freestyle
Cobra 2204 1960KV
Kiss 30a
Naze32 Rev6 Betaflight 2.1.6
Props HQ6045 (Brand new in this video)
D4R-ii

BlackBox File:
https://drive.google.com/file/d/0Bwd...ew?usp=sharing

HD Video:
https://drive.google.com/file/d/0Bwd...ew?usp=sharing

DVR Video:
https://drive.google.com/file/d/0Bwd...ew?usp=sharing

motor1:


motor2:


motor3:


motor4:

I just looked at your BB log, D terms look very noisy, could you also provide your CLI Dump?
Don't be a LOS'er, be an FPV'er :)  My Gear - Facebook - Instagram - Twitter
Reply
#3
of course, thank you!

Entering CLI Mode, type 'exit' to return, or 'help'

# dump

# version
# BetaFlight/NAZE 2.1.6 Dec 20 2015 / 14:14:03 (6a64c19)
# 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 RX_PPM
feature VBAT
feature MOTOR_STOP
feature FAILSAFE
feature TELEMETRY
feature ONESHOT125
feature BLACKBOX


# map
map TAER1234


# serial
serial 0 5 115200 57600 0 115200
serial 1 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 7,8Big Grin:WF:0
led 15 8,8Big Grin: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 emf_avoidance = OFF
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 input_filtering_mode = OFF
set rc_smoothing = OFF
set min_throttle = 1150
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 enable_fast_pwm = OFF
set motor_pwm_rate = 400
set servo_pwm_rate = 50
set disarm_kill_switch = ON
set auto_disarm_delay = 15
set small_angle = 25
set fixedwing_althold_dir = 1
set reboot_character = 82
set serialrx_provider = SPEK1024
set spektrum_sat_bind = 0
set telemetry_switch = OFF
set telemetry_inversion = OFF
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 = 180
set max_angle_inclination = 700
set gyro_lpf = 188HZ
set moron_threshold = 32
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
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 failsafe_delay = 10
set failsafe_off_delay = 10
set failsafe_throttle = 950
set failsafe_kill_switch = OFF
set failsafe_throttle_low_delay = 100
set rx_min_usec = 885
set rx_max_usec = 2115
set acc_hardware = 0
set baro_hardware = 1
set mag_hardware = 0
set blackbox_rate_num = 1
set blackbox_rate_denom = 2
set blackbox_device = SPIFLASH
set beeper_off_flags = 0
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

# aux
aux 0 2 0 1300 1700
aux 1 12 0 900 1300
aux 2 20 1 1700 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

# 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 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
set alt_hold_deadband = 40
set alt_hold_fast_change = ON
set deadband = 6
set yaw_deadband = 6
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 = 43
set i_pitch = 30
set d_pitch = 25
set p_roll = 38
set i_roll = 30
set d_roll = 25
set p_yaw = 96
set i_yaw = 50
set d_yaw = 10
set p_pitchf = 1.500
set i_pitchf = 0.300
set d_pitchf = 0.020
set p_rollf = 1.500
set i_rollf = 0.300
set d_rollf = 0.020
set p_yawf = 4.000
set i_yawf = 0.400
set d_yawf = 0.010
set level_horizon = 6.000
set level_angle = 6.000
set sensitivity_horizon = 75
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 = 120
set i_vel = 45
set d_vel = 1
set gyro_soft_lpf = ON
set dterm_cut_hz = 40
set yaw_pterm_cut_hz = 0

# dump rates

# rateprofile
rateprofile 0

set rc_rate = 110
set rc_expo = 60
set rc_yaw_expo = 10
set thr_mid = 50
set thr_expo = 0
set roll_rate = 75
set pitch_rate = 75
set yaw_rate = 75
set tpa_rate = 0
set tpa_breakpoint = 1500
Reply
#4
(15-Jan-2016, 08:00 PM)Hi Rubi,I\m not sure is it Rev6 with betaflight issue but before I switch to F3 board I have the same issue as yours all the small noises get into the motors and keep increasing when throttle up even with very low gains tune.According to blackbox yes try lower D especially on Roll a touch bit as it shown higher than your Roll P, also you might want to try even lower Dterm_cut values see any help, but honestly I tried that doesn't help until new FC replaced.If everything without help might as well update to 2.3.1 as new filter implemented might have different results.  Rubi Liani Wrote: of course, thank you!

Entering CLI Mode, type 'exit' to return, or 'help'

# dump

# version
# BetaFlight/NAZE 2.1.6 Dec 20 2015 / 14:14:03 (6a64c19)
# 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 RX_PPM
feature VBAT
feature MOTOR_STOP
feature FAILSAFE
feature TELEMETRY
feature ONESHOT125
feature BLACKBOX


# map
map TAER1234


# serial
serial 0 5 115200 57600 0 115200
serial 1 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 7,8Big Grin:WF:0
led 15 8,8Big Grin: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 emf_avoidance = OFF
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 input_filtering_mode = OFF
set rc_smoothing = OFF
set min_throttle = 1150
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 enable_fast_pwm = OFF
set motor_pwm_rate = 400
set servo_pwm_rate = 50
set disarm_kill_switch = ON
set auto_disarm_delay = 15
set small_angle = 25
set fixedwing_althold_dir = 1
set reboot_character = 82
set serialrx_provider = SPEK1024
set spektrum_sat_bind = 0
set telemetry_switch = OFF
set telemetry_inversion = OFF
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 = 180
set max_angle_inclination = 700
set gyro_lpf = 188HZ
set moron_threshold = 32
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
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 failsafe_delay = 10
set failsafe_off_delay = 10
set failsafe_throttle = 950
set failsafe_kill_switch = OFF
set failsafe_throttle_low_delay = 100
set rx_min_usec = 885
set rx_max_usec = 2115
set acc_hardware = 0
set baro_hardware = 1
set mag_hardware = 0
set blackbox_rate_num = 1
set blackbox_rate_denom = 2
set blackbox_device = SPIFLASH
set beeper_off_flags = 0
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

# aux
aux 0 2 0 1300 1700
aux 1 12 0 900 1300
aux 2 20 1 1700 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

# 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 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
set alt_hold_deadband = 40
set alt_hold_fast_change = ON
set deadband = 6
set yaw_deadband = 6
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 = 43
set i_pitch = 30
set d_pitch = 25
set p_roll = 38
set i_roll = 30
set d_roll = 25
set p_yaw = 96
set i_yaw = 50
set d_yaw = 10
set p_pitchf =  1.500
set i_pitchf =  0.300
set d_pitchf =  0.020
set p_rollf =  1.500
set i_rollf =  0.300
set d_rollf =  0.020
set p_yawf =  4.000
set i_yawf =  0.400
set d_yawf =  0.010
set level_horizon =  6.000
set level_angle =  6.000
set sensitivity_horizon = 75
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 = 120
set i_vel = 45
set d_vel = 1
set gyro_soft_lpf = ON
set dterm_cut_hz = 40
set yaw_pterm_cut_hz = 0

# dump rates

# rateprofile
rateprofile 0

set rc_rate = 110
set rc_expo = 60
set rc_yaw_expo = 10
set thr_mid = 50
set thr_expo = 0
set roll_rate = 75
set pitch_rate = 75
set yaw_rate = 75
set tpa_rate = 0
set tpa_breakpoint = 1500
Reply
#5
I tried another FC, same results..
Maybe need time to try another one..
What do you think about the motor vibrations?

Rubi.
Reply
#6
Hi Rubi

also try this:

- turn off your Mag and Acc
- set dterm_cut_hz = 20
- half your roll/pitch D gain

let me know if that helps Smile
Don't be a LOS'er, be an FPV'er :)  My Gear - Facebook - Instagram - Twitter
Reply
#7
Will do! Thank you guys!
Reply


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