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34 07-Sep-2016, 07:26 AM (This post was last modified: 07-Sep-2016, 07:40 AM by oyvinla.) It doesn't look like you got any big oscillations, so I would probably increase P on all axis. Here is a great video from skitzo which is right on the spot:
Regarding your flight times, what battery are you using? If you dont get more than 1:45 min flight time with that kind of flying from the BB log, I would guess your battery is not as good as it once was. How much mAh do you get into it when charging?
are you sure that the blackbox log and cli dump are the same?
here are the pids from the CLI:
set p_pitch = 54
set i_pitch = 47
set d_pitch = 42
set p_roll = 36
set i_roll = 45
set d_roll = 38
set p_yaw = 85
set i_yaw = 56
set d_yaw = 38
And this is from the blackbox log:
H pidController:1
H rollPID:35,45,38
H pitchPID:41,47,42
H yawPID:67,56,38
If you are flying with the PIDs from the CLI dump, I would think that you gote some more oscillations than what I could see on the BB log
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2 That d term on all axis will kill your battery . That should be around 12 to 18 possibly 20.
I assume your motors are hot as hell afterwards too.
Drop your d to 12 on all axis . I bet my life you'll get 4 to 6 mins on your battery and also your motors won't be hot.
If you have oscillations then work on p and basically start over.
Your d gains will smooth out bounceback but also too high of d gains will make your motors hot and absolutely kill your battery life.
Don't be surprised when your quad feels much faster.
Because it will be without that high d term.
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34 07-Sep-2016, 11:14 AM (This post was last modified: 07-Sep-2016, 11:22 AM by oyvinla.) The D-term all depends on what looptime you are running and how much motor noise that gets picked up by the gyro. You can probably run with higher D-term if you got a FC with a MPU6000 gyro and run faster looptimes.
It is not a problem to run with high D-gain as long as your motors come down not too hot (I live by the rule that if you cant touch and hold your motor comfortably, then it is too hot).
But like PoorMan FPV stated, you could probably drop D down a bit. I would start with the default betaflight PIDs and go from there.
Joshua Bardwell has posted a bunch of tuning videos on youtube that can also help you on your way
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