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Strange oscillations a mid throttle...
#1
Hey, I've been trying to figure this out for days... The quad flies great, but at about 1412 - 1480ish throttle I get a strange PID oscillation. The gyros look clean. The P and D's go crazy, but the I's do nothing. I'm very confused.

Xnova 2206-2300
Aikon 30a Blheli_s
Naze rev 6 (killed my Lux) Betaflight 3.0
5X4.5X3



Please help.
PS: i have fiddled with the filters, but really don't know what i'm doing...

Log file here:
https://drive.google.com/file/d/0B3qDFmP...sp=sharing

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

# dump

# version
# BetaFlight/NAZE 3.0.0 Sep 11 2016 / 00:35:30 (a21694b)

# name
name NTI-5R

# 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 RX_SERIAL
feature FAILSAFE
feature BLACKBOX

# 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 TAER1234

# serial
serial 0 1 115200 57600 0 115200
serial 1 64 115200 57600 0 115200

# led
led 0 0,0::C:0
led 1 0,0::C:0
led 2 0,0::C:0
led 3 0,0::C: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

# aux
aux 0 0 0 1950 2100
aux 1 2 1 1450 1550
aux 2 27 0 1950 2100
aux 3 12 1 1975 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 0 900 900 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 s 1500
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 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_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 = NONE
set min_throttle = 1060
set max_throttle = 2000
set min_command = 1000
set servo_center_pulse = 1500
set max_esc_throttle_jump = 0
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 = MULTISHOT
set motor_pwm_rate = 400
set servo_pwm_rate = 50
set disarm_kill_switch = ON
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 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 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 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 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 max_angle_inclination = 700
set gyro_lpf = OFF
set gyro_sync_denom = 4
set gyro_lowpass_level = NORMAL
set gyro_lowpass = 100
set gyro_notch_hz = 0
set gyro_notch_cutoff = 130
set moron_threshold = 32
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set alt_hold_deadband = 40
set alt_hold_fast_change = ON
set deadband = 0
set yaw_deadband = 0
set throttle_correction_value = 0
set throttle_correction_angle = 800
set yaw_control_direction = 1
set yaw_motor_direction = 1
set tri_unarmed_servo = ON
set servo_lowpass_freq = 400
set servo_lowpass_enable = OFF
set airmode_activate_throttle = 1350
set failsafe_delay = 10
set failsafe_off_delay = 10
set failsafe_throttle = 1070
set failsafe_kill_switch = OFF
set failsafe_throttle_low_delay = 100
set failsafe_procedure = AUTO-LAND
set rx_min_usec = 885
set rx_max_usec = 2115
set gimbal_mode = NORMAL
set acc_hardware = AUTO
set acc_lpf_hz =  10.000
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 mag_hardware = NONE
set mag_declination = 0
set pid_process_denom = 2
set blackbox_rate_num = 1
set blackbox_rate_denom = 1
set blackbox_device = SPIFLASH
set blackbox_on_motor_test = OFF
set magzero_x = 0
set magzero_y = 0
set magzero_z = 0
set ledstrip_visual_beeper = OFF

# profile
profile 0

set pid_delta_method = MEASUREMENT
set yaw_p_limit = 500
set dterm_lowpass_level = HIGH
set dterm_lowpass = 100
set dterm_notch_hz = 260
set dterm_notch_cutoff = 160
set vbat_pid_compensation = OFF
set pid_at_min_throttle = ON
set iterm_throttle_gain = 0
set pterm_srate_ratio = 85
set dterm_setpoint_weight = 150
set yaw_rate_accel_limit = 220
set rate_accel_limit = 0
set accum_threshold = 130
set yaw_accum_threshold = 32
set yaw_lowpass = 120
set pid_controller = BETAFLIGHT
set p_pitch = 60
set i_pitch = 65
set d_pitch = 16
set p_roll = 45
set i_roll = 40
set d_roll = 14
set p_yaw = 70
set i_yaw = 45
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
rateprofile 0

# rateprofile
rateprofile 0

set rc_rate = 117
set rc_rate_yaw = 117
set rc_expo = 0
set rc_yaw_expo = 0
set thr_mid = 50
set thr_expo = 0
set roll_srate = 78
set pitch_srate = 78
set yaw_srate = 75
set tpa_rate = 10
set tpa_breakpoint = 1650

#
Reply
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#2
I had the same problem. The rev 6 gyro is very sensitive. I had to soft mount it using these. http://m.banggood.com/4pcs-M3-8x8mm-Rubb...63224.html.
Reply
#3
Most likely motor noise getting into the gyro. Check out Joshua Bardwells video on YouTube about tuning your notch filter. I would also consider soft mounting your fc like doubleKO proposes
Reply
#4
The FC is soft mounted. look at the traces for the gyros in the log. There doesn't seem to be any noise.
Reply
#5
This looks like motor noise to me:

[Image: OC9KT7c.jpg]

I noticed from the BB log that your D is quite low (roll=10, pitch=12)
Try increasing your D, to about 25, and see if it helps. my experience is that to low D will also cause theese oscillations to happen. When I did a tune some time ago, I started out with a low D, and while I increased D the motor temperature actually went down, untill I reached about D=25-30 (cant exactly remember the value), and then the motors started to get hotter again. The temperature can actually be a good indication on where your D is

Your D-term soft low pass filter is set to 100hZ, you could try to decrease this to see if it helps. Same with your gyro LPF, which is set to 90Hz now

what frame is it?
[-] The following 1 user Likes oyvinla's post:
  • Gow864
Reply
#6
It also looks like your P is a bit too high on the Pitch axis. are you running an light X-frame?
Reply
#7
(30-Sep-2016, 12:36 PM)Gow864 Wrote: The FC is soft mounted. look at the traces for the gyros in the log. There doesn't seem to be any noise.

How is it soft mounted, got a picture?
Reply
#8
(30-Sep-2016, 01:14 PM)oyvinla Wrote: This looks like motor noise to me:

[Image: OC9KT7c.jpg]

I noticed from the BB log that your D is quite low (roll=10, pitch=12)
Try increasing your D, to about 25, and see if it helps. my experience is that to low D will also cause theese oscillations to happen. When I did a tune some time ago, I started out with a low D, and while I increased D the motor temperature actually went down, untill I reached about D=25-30 (cant exactly remember the value), and then the motors started to get hotter again. The temperature can actually be a good indication on where your D is

Your D-term soft low pass filter is set to 100hZ, you could try to decrease this to see if it helps. Same with your gyro LPF, which is set to 90Hz now

what frame is it?

(30-Sep-2016, 01:20 PM)oyvinla Wrote: It also looks like your P is a bit too high on the Pitch axis. are you running an light X-frame?

Oyvinla. thanks. I'll check the motors for vibrations. I'll make the changes you recommend and let you know what happens. The frame is this http://www.nextecindustries.com/nti-5r. I previously ran this frame using cobra motors, Kiss esc's and a LUC FC. It was rock solid in that setup.. 

Thanks for taking the time...
Gary...
Reply
#9
(30-Sep-2016, 10:36 PM)Gow864 Wrote: Oyvinla. thanks. I'll check the motors for vibrations. I'll make the changes you recommend and let you know what happens. The frame is this http://www.nextecindustries.com/nti-5r. I previously ran this frame using cobra motors, Kiss esc's and a LUC FC. It was rock solid in that setup.. 

Thanks for taking the time...
Gary...

I guess you were running higher looptime on the lux fc? With faster looptime, you can have higher P-value before getting noticeable oscillations
Reply
#10
Gow864 Wrote:Oyvinla. thanks. I'll check the motors for vibrations. I'll make the changes you recommend and let you know what happens. The frame is this http://www.nextecindustries.com/nti-5r. I previously ran this frame using cobra motors, Kiss esc's and a LUC FC. It was rock solid in that setup.. 

Thanks for taking the time...
Gary...

Gary, did you ever find a solution to your issue?  I am having a similar issue, with even less gyro noise.  Around mid throttle, the pids just get a ton of noise in them.  My FC is hard mounted - but I was curious what you found to alleviate your issue.  Thanks, James
Reply


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