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IntoFPV Forum › General Discussion › General Topics v
Tuning for the first time I think I did good?

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Tuning for the first time I think I did good?
jtroutt19 Offline
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#1
03-Jul-2017, 02:28 AM (This post was last modified: 03-Jul-2017, 03:48 AM by jtroutt19.)
Just tried tuning for the first time. I have been running with defaults for a while now but the quad was not performing as well as I wanted it to. So here are my results. It definitely flies better but wanted some with more experience to take a look. I had one guy tell me that I had an issue with oscillations on my RCCOmmand that translates into oscillations in my PID's. I can see what he was talking about and did some google searching but cannot find any info on it.

Running

Emax 2205s-2300kv motors
Emax bullet 30a 
Ideal Prop 5048

Dropbox link to Blackbox log. Its short because the REVO I am using does not have a lot of dataflash
https://www.dropbox.com/s/mwcr74kvy904rq...1.BFL?dl=0

Code:
# version
# Betaflight / REVO 3.1.7 Apr  3 2017 / 22:19:30 (e1c4b5c)

# name
name -

# resources
resource BEEPER 1 NONE
resource MOTOR 1 B00
resource MOTOR 2 B01
resource MOTOR 3 A03
resource MOTOR 4 A02
resource MOTOR 5 A01
resource MOTOR 6 A00
resource MOTOR 7 NONE
resource MOTOR 8 NONE
resource MOTOR 9 NONE
resource MOTOR 10 NONE
resource MOTOR 11 NONE
resource MOTOR 12 NONE
resource SERVO 1 NONE
resource SERVO 2 NONE
resource SERVO 3 NONE
resource SERVO 4 NONE
resource SERVO 5 NONE
resource SERVO 6 NONE
resource SERVO 7 NONE
resource SERVO 8 NONE
resource PPM 1 B14
resource PWM 1 B14
resource PWM 2 B15
resource PWM 3 C06
resource PWM 4 C07
resource PWM 5 C08
resource PWM 6 C09
resource PWM 7 NONE
resource PWM 8 NONE
resource LED_STRIP 1 A01
resource SERIAL_TX 1 A09
resource SERIAL_TX 2 NONE
resource SERIAL_TX 3 B10
resource SERIAL_TX 4 NONE
resource SERIAL_TX 5 NONE
resource SERIAL_TX 6 C06
resource SERIAL_TX 7 NONE
resource SERIAL_TX 8 NONE
resource SERIAL_TX 9 NONE
resource SERIAL_TX 10 NONE
resource SERIAL_TX 11 NONE
resource SERIAL_TX 12 NONE
resource SERIAL_RX 1 A10
resource SERIAL_RX 2 NONE
resource SERIAL_RX 3 B11
resource SERIAL_RX 4 NONE
resource SERIAL_RX 5 NONE
resource SERIAL_RX 6 C07
resource SERIAL_RX 7 NONE
resource SERIAL_RX 8 NONE
resource SERIAL_RX 9 NONE
resource SERIAL_RX 10 NONE
resource SERIAL_RX 11 NONE
resource SERIAL_RX 12 NONE

# mixer
mixer QUADX1234

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 -SDCARD
feature -VTX
feature -RX_SPI
feature -SOFTSPI
feature -ESC_SENSOR
feature -FEATURE_ANTI_GRAVITY
feature RX_SERIAL
feature MOTOR_STOP
feature FAILSAFE
feature CURRENT_METER
feature OSD
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 AETR1234

# serial
serial 20 1 115200 57600 0 115200
serial 0 64 115200 57600 0 115200
serial 2 0 115200 57600 0 115200
serial 5 1 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
mode_color 7 0 3

# aux
aux 0 0 2 1000 2025
aux 1 28 0 900 2100
aux 2 4 0 925 2100
aux 3 1 0 1175 1275
aux 4 2 0 1325 1550
aux 5 26 3 1300 1700
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 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

# master
set task_statistics = ON
set mid_rc = 1500
set min_check = 1100
set max_check = 1900
set rssi_channel = 6
set rssi_scale = 30
set rc_interp = AUTO
set rc_interp_ch = RP
set rc_interp_int = 19
set rssi_invert = OFF
set input_filtering_mode = OFF
set fpv_mix_degrees = 0
set max_aux_channels = 14
set debug_mode = NONE
set min_throttle = 1020
set max_throttle = 1980
set min_command = 1000
set digital_idle_percent =  1.000
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 0
set use_unsynced_pwm = OFF
set motor_pwm_protocol = DSHOT600
set motor_pwm_rate = 480
set disarm_kill_switch = ON
set gyro_cal_on_first_arm = OFF
set auto_disarm_delay = 10
set small_angle = 25
set fixedwing_althold_dir = 1
set reboot_character = 82
set serial_update_rate_hz = 100
set gps_provider = NMEA
set gps_sbas_mode = AUTO
set gps_auto_config = ON
set gps_auto_baud = OFF
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 beeper_inversion = OFF
set beeper_od = ON
set serialrx_provider = SBUS
set serialrx_halfduplex = OFF
set sbus_inversion = ON
set spektrum_sat_bind = 0
set spektrum_sat_bind_autorst = 1
set tlm_switch = OFF
set tlm_inversion = ON
set sport_halfduplex = ON
set frsky_default_lat =  0.000
set frsky_default_long =  0.000
set frsky_gps_format = 0
set frsky_unit = IMPERIAL
set frsky_vfas_precision = 0
set frsky_vfas_cell_voltage = OFF
set hott_alarm_int = 5
set pid_in_tlm = OFF
set ibus_report_cell_voltage = OFF
set bat_capacity = 0
set vbat_scale = 140
set vbat_max_cell_voltage = 43
set vbat_min_cell_voltage = 30
set vbat_warning_cell_voltage = 35
set vbat_hysteresis = 1
set ibat_scale = 300
set ibat_offset = 0
set mwii_ibat_output = OFF
set current_meter_type = ADC
set battery_meter_type = ADC
set bat_detect_thresh = 55
set use_vbat_alerts = ON
set use_cbat_alerts = OFF
set cbat_alert_percent = 10
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 gyro_lpf = OFF
set gyro_sync_denom = 1
set gyro_isr_update = OFF
set gyro_use_32khz = OFF
set gyro_lowpass_type = PT1
set gyro_lowpass = 90
set gyro_notch1_hz = 400
set gyro_notch1_cut = 300
set gyro_notch2_hz = 200
set gyro_notch2_cut = 100
set moron_threshold = 48
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set alt_hold_deadband = 40
set alt_hold_fast_change = ON
set deadband = 1
set yaw_deadband = 1
set thr_corr_value = 0
set thr_corr_angle = 800
set yaw_control_direction = 1
set yaw_motor_direction = 1
set servo_center_pulse = 1500
set tri_unarmed_servo = ON
set servo_lowpass_hz = 400
set servo_lowpass = OFF
set servo_pwm_rate = 50
set gimbal_mode = NORMAL
set channel_forwarding_start = 4
set airmode_start_throttle = 1350
set failsafe_delay = 10
set failsafe_off_delay = 10
set failsafe_throttle = 1000
set failsafe_kill_switch = OFF
set failsafe_throttle_low_delay = 100
set failsafe_procedure = DROP
set rx_min_usec = 885
set rx_max_usec = 2115
set acc_hardware = AUTO
set acc_lpf_hz = 10
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 = 1
set blackbox_rate_num = 1
set blackbox_rate_denom = 2
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
set displayport_msp_col_adjust = 0
set displayport_msp_row_adjust = 0

# profile
profile 0

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 pidsum_limit =  0.500
set pidsum_limit_yaw =  0.500
set d_lowpass_type = BIQUAD
set d_lowpass = 100
set d_notch_hz = 260
set d_notch_cut = 160
set vbat_pid_gain = OFF
set pid_at_min_throttle = ON
set anti_gravity_thresh = 350
set anti_gravity_gain =  3.000
set setpoint_relax_ratio = 100
set d_setpoint_weight = 60
set yaw_accel_limit =  10.000
set accel_limit =  0.000
set iterm_windup = 50
set yaw_lowpass = 0
set p_pitch = 67
set i_pitch = 37
set d_pitch = 25
set p_roll = 65
set i_roll = 35
set d_roll = 23
set p_yaw = 50
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
set level_sensitivity = 55
set level_limit = 55
rateprofile 0

# rateprofile
rateprofile 0

set rc_rate = 110
set rc_rate_yaw = 110
set rc_expo = 0
set rc_yaw_expo = 0
set thr_mid = 50
set thr_expo = 0
set roll_srate = 75
set pitch_srate = 75
set yaw_srate = 75
set tpa_rate = 10
set tpa_breakpoint = 1650
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jtroutt19 Offline
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#2
03-Jul-2017, 04:59 AM
OK so just to keep the thread up to date on what I am doing. I have removed Gyro Notch 1 filter Also set d_lowpass_type = PT1. Gyro traces are still clean. I have also set rc_interp_ch = RPYT. I still have not been able to get rid of the steps in the bb log.
Here is new log
https://www.dropbox.com/s/84um0d3m5ubby5...T.BFL?dl=0
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jtroutt19 Offline
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#3
03-Jul-2017, 06:33 AM (This post was last modified: 03-Jul-2017, 06:33 AM by jtroutt19.)
Another update I had to manual set my RC interpolation interval to 25ms to get rid of the steps. Quad still seems to fly fine. Looking over other things I found this. They are like super tiny micro oscillations. Does this mean my P-roll is too high by just a bit?


Attached Files Thumbnail(s)
   
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Carl.Vegas Offline
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#4
03-Jul-2017, 04:00 PM
Very interesting. Are your motors hot after you fly?
carl.vegas
Current Quads: Operational: Diatone GT2 200 In need of repair: Bumble Bee, tehStein,  Slightly modified Vortex 250 
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oyvinla Offline
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#5
03-Jul-2017, 05:09 PM
I think those small oscillations are motor noise. You can check the period of each oscillation and compare with the spectrogram
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jtroutt19 Offline
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#6
04-Jul-2017, 08:34 PM
They are a tad warm after a flight. yesterday it was 90F outside and my motors came down right at 100F. They come down at that temp though even on default settings. I am still tinkering with it. I will post new log today. I wish I had the ability to get longer than a 10 second log but there is only 2mb of flash on my FC.

@oyvinla I have no clue how to do that.
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oyvinla Offline
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#7
04-Jul-2017, 09:29 PM
According to Joshua Bardwell you don't need to log at a higher rate than 1k for pid tuning. That will give you some more logging time.

You can measure the time between each oscillation curve top by zooming in and scrolling between them and take a note of the time. If you calculate 1/T where T=time between each oscillation you get the frequency.
Now, you can compare it with the motor noise found in the spectrogram. The spectrogram can be found if you push the button with a lot of small squares in the right bar, right next to the gyro.
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jtroutt19 Offline
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#8
05-Jul-2017, 02:11 AM
OK I will look at that. I am using a 8khz PID loop. Logging at 4khz or 50%
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jtroutt19 Offline
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#9
05-Jul-2017, 02:45 AM (This post was last modified: 05-Jul-2017, 02:46 AM by jtroutt19.)
OK so I am still using the 4KHZ logging rate. I went outside tonight and did some full throttle punches followed by no throttle flips and rolls. here is a link to the BB log
https://www.dropbox.com/s/xe6zt9q39jssi6...s.BFL?dl=0

First I am seeing a spike in my motors spectrograph at 400HZ. Maybe softmounting my motors would help that? Second At one point I think I see some D term Oscillations on my roll axis. Now keep in mind I am still very new at understanding BB logs. But I am seeing an improvement. Just feel like there is still more room to improve. As for my motors spectrograph I have the first Notch filter off which deals with noise at 400HZ.

What are your guys opinions on this one?
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oyvinla Offline
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#10
05-Jul-2017, 07:05 AM
Have you soft mounted the FC? The rubber standoffs from Banggood works pretty well
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fftunes Offline
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#11
06-Jul-2017, 07:43 AM (This post was last modified: 06-Jul-2017, 07:44 AM by fftunes.)
(04-Jul-2017, 09:29 PM)oyvinla Wrote: According to Joshua Bardwell you don't need to log at a higher rate than 1k for pid tuning. That will give you some more logging time.

You can measure the time between each oscillation curve top by zooming in and scrolling between them and take a note of the time. If you calculate 1/T where T=time between each oscillation you get the frequency.
Now, you can compare it with the motor noise found in the spectrogram. The spectrogram can be found if you push the button with a lot of small squares in the right bar, right next to the gyro.

Even easier, you can put the time bar at the start of a wave, press 'm', then set the time bar to the end of the wave and it automatically displays the frequency. Wink
[-] The following 1 user Likes fftunes's post:
  • oyvinla
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oyvinla Offline
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#12
06-Jul-2017, 09:19 AM (This post was last modified: 06-Jul-2017, 09:19 AM by oyvinla.)
(06-Jul-2017, 07:43 AM)fftunes Wrote: Even easier, you can put the time bar at the start of a wave, press 'm', then set the time bar to the end of the wave and it automatically displays the frequency. Wink

That's good to know! Thanks! Smile
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