Posts: 62 Threads: 21 Likes Received: 3 in 2 posts Likes Given: 0 Joined: Feb 2016 Reputation: 3 I am having some really bad vibration with my mini quad, it's Naze32 Rev6, Cobra 2204 2300KV and Littlebee 20A (blheli 14.4) Loaded the latest betaflight firmware, and enabled 2Khz mode by disabling gyro_lpf and ACC, confirmed looptime has dropped to 500. Noises mainly come from P and D on both roll and pitch, and I have reduced D to be under 10 still getting some pretty bad vibration. I just find it so much harder to tune than the previous version I tried (2.1.6). I think my quad is just naturally noisy I guess, and not using any of the software filters just doesn't work well on it. Any thoughts guys? • Posts: 5,314 Threads: 672 Likes Received: 3,155 in 1,743 posts Likes Given: 2,027 Joined: Jan 2016 Reputation: 139 Just be aware that blacklog data in 2Khz mode looks nosier than higher looptime, because there are higher frequency noise that used to be cut off, now visible as well in the log... therefore becomes much more difficult to analyse... so what you are seeing doesn't necessary mean the noise that is affecting the craft... Anyway, I have seen many people finding 2Khz mode hard to tune especially with Naze32 Rev6, because of the Gyro sensor it's using, i.e. 6500. The data from that gyro working at high frequency is much nosier than other gyro sensors on other boards such as the 6050 and 6000. Naze32 Rev5 for example uses 6050 and many people reported that rev5 was much easier to tune than rev6, also PID values can normally set higher on the rev5 boards. My suggestions is to go back to 1Khz mode, see if you are still having problems with it, turn the filters back on such as gyro_lpf = 188hz dterm_cut_hz = 40 If still having problems, you can also try a older version like the 2.1.6, which most people were having good result with. • Posts: 93 Threads: 25 Likes Received: 6 in 5 posts Likes Given: 3 Joined: Jan 2016 Reputation: 4 08-Feb-2016, 01:56 AM (This post was last modified: 08-Feb-2016, 01:57 AM by CurryCat.) I struggled to get rid of fast oscillations on 2khz 2.3 on quick turns and prop wash, had it tuned on rails smooth before I upgraded. both motors and ESC ran very hot on even gently flight. I did not get to blackbox but reverted to 2.1.6 for now. • Posts: 62 Threads: 21 Likes Received: 3 in 2 posts Likes Given: 0 Joined: Feb 2016 Reputation: 3 thanks guys! will try 1khz mode and report back. I see there is now a new version 2.3.5 will also test it too. • Posts: 76 Threads: 13 Likes Received: 2 in 2 posts Likes Given: 0 Joined: Jan 2016 Reputation: 3 Can you provide a log from 2kHz Would like to compare it to mine since i got some vibration issues lately. Sky is where the fun begins! Flying: Armattan F1-6 / Cobra 1960kv / KISS / 1800mAh nano's / SPR3 / Betaflight 2kHz Building: FPV49v4 modified • Posts: 5,314 Threads: 672 Likes Received: 3,155 in 1,743 posts Likes Given: 2,027 Joined: Jan 2016 Reputation: 139 (08-Feb-2016, 09:05 AM)DiegoTheWolf Wrote: Can you provide a log from 2kHz Would like to compare it to mine since i got some vibration issues lately. Here: https://dl.dropboxusercontent.com/u/4571...z-mode.zip this is the best i can get • Posts: 76 Threads: 13 Likes Received: 2 in 2 posts Likes Given: 0 Joined: Jan 2016 Reputation: 3 (10-Feb-2016, 02:08 AM)Oscar Wrote: Here: https://dl.dropboxusercontent.com/u/4571...z-mode.zip this is the best i can get Thank you! Actually you asked my in the MI-Group if i had some of my BB-Logs cause i said i had no problem with 2kHz. Here they are (G-Drive Link) i don't balance my props and one had hit the ground so it had some "scars" on the outside. Sky is where the fun begins! Flying: Armattan F1-6 / Cobra 1960kv / KISS / 1800mAh nano's / SPR3 / Betaflight 2kHz Building: FPV49v4 modified • Posts: 5,314 Threads: 672 Likes Received: 3,155 in 1,743 posts Likes Given: 2,027 Joined: Jan 2016 Reputation: 139 I am not familiar with Hexacopter but from the log, it seems to fly pretty well already but looks like your COG is not centred? the front left is heavier... here would be my suggestion: roll: lower D 5-10% pitch: lower P 20% your yaw P is the noisiest! lower yaw P by 20% see if it flies better • Posts: 76 Threads: 13 Likes Received: 2 in 2 posts Likes Given: 0 Joined: Jan 2016 Reputation: 3 11-Feb-2016, 05:12 PM (This post was last modified: 26-May-2017, 11:07 PM by Oscar.) (10-Feb-2016, 09:04 PM)Oscar Wrote: I am not familiar with Hexacopter but from the log, it seems to fly pretty well already but looks like your COG is not centred? the front left is heavier... here would be my suggestion: roll: lower D 5-10% pitch: lower P 20% your yaw P is the noisiest! lower yaw P by 20% see if it flies better It's no Hex (should have said that) i have my motors running on pin 3-6 and not 1-4 but you can't delete 1 & 2 xD Okay, i'll try that out ... should've looked into the yaw ... wait, this axis needs tuning *joke* Sky is where the fun begins! Flying: Armattan F1-6 / Cobra 1960kv / KISS / 1800mAh nano's / SPR3 / Betaflight 2kHz Building: FPV49v4 modified • Posts: 5,314 Threads: 672 Likes Received: 3,155 in 1,743 posts Likes Given: 2,027 Joined: Jan 2016 Reputation: 139 hehe.. oh right! it was very confusing hehe • Posts: 1 Threads: 0 Likes Received: 0 in 0 posts Likes Given: 0 Joined: Jan 2016 Reputation: 0 I'm experiencing the same wobble/hard to tune issues on my quad with cobra 2204 2300kv, littlebee 20A and naze rev6. Just ordered a x-racer f303 board with a mpu6050 to see if this will cure our problems! A friend with this same setup except a rev5 he has no problems just a great flying quad. I will post my findings here when the new board arrives • Posts: 1,070 Threads: 70 Likes Received: 742 in 378 posts Likes Given: 577 Joined: Jan 2016 Reputation: 44 Funny thing is, my rev6 works better on 2khz and stock (or almost stock) pids than 1khz. Some small bumps here and there, but no tragedy. Will change it to rev5 and check next time I rebuild • Posts: 5,314 Threads: 672 Likes Received: 3,155 in 1,743 posts Likes Given: 2,027 Joined: Jan 2016 Reputation: 139 (04-May-2016, 09:31 PM)QuadroBro Wrote: That sounds like my red bottoms with my rubbish colibri. Were you able to tube the oscillations out with filtering and higher loop times? No higher looptime made it worse... With exact same settings it worked beautifully on the XRacer • Posts: 3 Threads: 0 Likes Received: 0 in 0 posts Likes Given: 0 Joined: May 2016 Reputation: 0 Soft-mounting the Naze rev 6 did wonders to my quad. The Naze rev 6's IMU is known to be noisier than the rev 5 used to be (rev 5 used MPU6050, rev 6 uses MPU6500). • |