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#1
Ok, so having read more than I knew existed about PID tuning, and still feeling like know absolutely nothing, maybe I'll go with the group tuning perspective.

Arris FPV250
Naze32 Rev6
Arris 20A Switft ESC w BEC (Flycolor 30A BLHeli fw v 14.8)
DXI 2205/2300KV motors
5045 Arris bullnose three blade props
Tattu 4S 1800 mah battery
Center of gravity as close to center (right under FC) as possible, just using a "balance on finger" method.

There are actually two flights in the file.  The first :49 seconds long is the one I'm looking at.  The second was during level/horizon mode, which likes to drift off and I was just trying to get back to the patio in the dark.

*OH! note - My motor header pin #3 (for motor #4) died, so I had to load a custom mix, and mmix, and copy settings for motor header 3 (motor 4) to motor header 4.  That's why you'll see the custom mix in the dump, and 5 rotors in Blackbox viewer

Blackbox Log

Code:
# version
# Cleanflight/NAZE 1.14.1 Nov 11 2016 / 11:53:56 (51ae22d)
# dump master

# mixer
mixer CUSTOM
mmix reset
mmix 0 1.000 -1.000 1.000 -1.000
mmix 1 1.000 -1.000 -1.000 1.000
mmix 2 1.000 1.000 1.000 1.000
mmix 3 1.000 0.000 0.000 0.000
mmix 4 1.000 1.000 -1.000 -1.000
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 FAILSAFE
feature RX_PARALLEL_PWM
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 = 2105365
set flashchip_nsect = 32
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 = 1050
set max_throttle = 1995
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 = 43
set vbat_min_cell_voltage = 33
set vbat_warning_cell_voltage = 35
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 = 0
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 = 1150
set failsafe_kill_switch = OFF
set failsafe_throttle_low_delay = 100
set failsafe_procedure = 1
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 = 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 0 1 1775 2100
aux 1 1 0 1675 2100
aux 2 0 0 900 900
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 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 = ON
set deadband = 2
set yaw_deadband = 0
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 = LUX
set p_pitch = 40
set i_pitch = 25
set d_pitch = 15
set p_roll = 40
set i_roll = 25
set d_roll = 15
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 = 15
set i_level = 8
set d_level = 65
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 = 100
set rc_expo = 50
set rc_yaw_expo = 0
set thr_mid = 50
set thr_expo = 0
set roll_rate = 50
set pitch_rate = 50
set yaw_rate = 35
set tpa_rate = 0
set tpa_breakpoint = 1500
~illushinz (CenFloFPV)

FPV noob.  
Arris 250FPV, Naze32 Rev6 Acro
ZMR250, Naze32 Rev5 Acro

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#2
Hello illushinz,

Do you maybe have also a blackbox log and a video, this can the expert helps more to give you an advice.
Reply
#3
(11-25-2016, 08:52 AM)Ikkuh Wrote: Hello illushinz,

Do you maybe have also a blackbox log and a video, this can the expert helps more to give you an advice.

Black box log included, see link just above dump in OP. Afraid I don't have DVR ability for video yet.
~illushinz (CenFloFPV)

FPV noob.  
Arris 250FPV, Naze32 Rev6 Acro
ZMR250, Naze32 Rev5 Acro

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#4
Accelerometers??

Just compared my blackbox accelerometers to one downloaded from this group.

Mine seems awfully erratic.  Should I just use some vibration mounts?  

Thoughts?


Attached Files Thumbnail(s)
       
~illushinz (CenFloFPV)

FPV noob.  
Arris 250FPV, Naze32 Rev6 Acro
ZMR250, Naze32 Rev5 Acro

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Reply
#5
(11-25-2016, 03:35 PM)illushinz Wrote: Accelerometers??

Just compared my blackbox accelerometers to one downloaded from this group.

Mine seems awfully erratic.  Should I just use some vibration mounts?  

Thoughts?

so much for that idea.  Here's a screenshot of BB log with rubber mounts on FC....


Attached Files Thumbnail(s)
   
~illushinz (CenFloFPV)

FPV noob.  
Arris 250FPV, Naze32 Rev6 Acro
ZMR250, Naze32 Rev5 Acro

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Reply
#6
I'm not going to worry about it too much, I'm always flying in acro, so it really shouldn't matter anyway (I believe)....
~illushinz (CenFloFPV)

FPV noob.  
Arris 250FPV, Naze32 Rev6 Acro
ZMR250, Naze32 Rev5 Acro

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#7
(11-25-2016, 06:55 PM)illushinz Wrote: I'm not going to worry about it too much, I'm always flying in acro, so it really shouldn't matter anyway (I believe)....
Seeing as you always fly in acro, have you tried just disabling the accel and see if that helps?
Reply
#8
I've never had to map motors, so I am not familiar with the process. But it looks to me like your FC thinks you have 5 motors. Shouldn't you somehow be able to disable the one that's busted? I could see how this might cause drifting in any self-leveling mode (and not be noticeable in acro mode). Just my impression/opinion from your screen-shots.
Reply
#9
(11-25-2016, 09:06 PM)sloscotty Wrote: I've never had to map motors, so I am not familiar with the process. But it looks to me like your FC thinks you have 5 motors. Shouldn't you somehow be able to disable the one that's busted? I could see how this might cause drifting in any self-leveling mode (and not be noticeable in acro mode). Just my impression/opinion from your screen-shots.

I just followed Joshua's video, but it did fix the motor #4 problem. He says you can't skip numbers, so it looks like there are 5 motors, but in CLI mmix is all 0s for the bad motor header.

~illushinz (CenFloFPV)

FPV noob.  
Arris 250FPV, Naze32 Rev6 Acro
ZMR250, Naze32 Rev5 Acro

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