Hola amigas and amigos!

Lately I've been doing something I've neglected on most of my builds until last weekend. PID tuning - I know the process very well in theory, but not too much in practice.
I will not give you exact numbers as that is useless for any other build.

Approach one - stock PIDs had a lot of wobble on full throttle and tons of prop wash oscillations. I played with P and D to set myself at a point where it was flying smooth on full throttle range:



May be smooth but... what was bad was definately too low P on roll and also too much oscillations on pitch (only on that axis!), but that was a good milestone for me - no more full throttle wobble.

Another approach - I raised P (and D) on roll and raised D a bit on pitch, but that felt a bit loose - tiny bouncebacks started to annoy me, so I went to try raising P as much as I can, adding D when needed. Still bouncebacks, but that was the end of last LiPo:



Todays session with Grisha, again - P raised gradually on both pitch and roll, while raising D just enough to counter oscillations - those guys are now only appearing on propwash, but thats what I was actually testing on (again) last flight:



I think I'm in a point where only either time consuming trial and error or blackbox would tell me what is causing the most prop wash wobble. I probably won't get rid of it entirely on that build, but I will try to minimize it.

Best,
Konrad

looks great just prop wash a little..
have you already checked if you can remove notch filter and change to PT1? it really helps with the prop wash.
steps: http://intofpv.com/t-i-can-t-believe-it-...s-week-lol

Thanks, this is on PT1 and with Notch 1 set to 0

Definitely looks pretty locked in. I can see the little bits of propwash because you mentioned it. Looks great otherwise though!~

(26-Jun-2017, 12:23 AM)Oscar Wrote: looks great just prop wash a little..
have you already checked if you can remove notch filter and change to PT1? it really helps with the prop wash.
steps: http://intofpv.com/t-i-can-t-believe-it-...s-week-lol

Wanted to say the same but since you already did optimize most of the filtering... one thing left would be hardware changes (lighter props), also some people say increasing i-term can help reduce propwash.

But then again, best habit is to just fly around it.

(05-Jul-2017, 04:54 PM)fftunes Wrote: Wanted to say the same but since you already did optimize most of the filtering... one thing left would be hardware changes (lighter props), also some people say increasing i-term can help reduce propwash.

But then again, best habit is to just fly around it.

I still have a 2nd notch and the dterm filters to remove if everyrhing goes well. Now I'll enjoy the fun this tune gives me. .. and then I'll probably reflash to newer firmware and start all over again xD

Lighter props are a good way for lighter motors but those 2206 tornados have enough torque to swing a heavy blade with ease

IMO iterm won't help much with high frequency oscillations as it is too slow... Bit hey, I'll check it