Posts: 10 Threads: 3 Likes Received: 1 in 1 posts Likes Given: 4 Joined: Mar 2016 Reputation: 0 Hi guys! I'm trying to get my warpquad 230 tuned and hope you can help me to sort some things out. Normal flying isn't the problem but when I perform a flip or roll the quad tumbles out of the air after completing about 3/4 of the flip/roll. I would like to get the roll/pitch rates a bit higher and the quad more stable. Hopefully you guys can help me. My setup: - warpquad 230 - motof3 FC - Cobra 2204-2300kv motors - Littlebee 20a esc - gemfan 6045 props - 1300mah 11.1v 45c-90c nanotech battery blackbox log: https://www.dropbox.com/s/1w5tp32zkfk6wi...2.TXT?dl=0 and some CLI values: Code: pid_process_denom = 1 pid_controller = LUX p_pitch = 54 i_pitch = 40 d_pitch = 22 p_roll = 42 i_roll = 40 d_roll = 18 p_yaw = 90 i_yaw = 50 d_yaw = 0 p_pitchf = 0.700 i_pitchf = 0.400 d_pitchf = 0.004 p_rollf = 0.700 i_rollf = 0.400 d_rollf = 0.004 p_yawf = 2.500 i_yawf = 0.400 d_yawf = 0.000 level_horizon = 4.000 level_angle = 4.000 sensitivity_horizon = 75 p_alt = 50 i_alt = 0 d_alt = 0 p_level = 30 i_level = 30 d_level = 100 p_vel = 120 i_vel = 45 d_vel = 1 rc_rate = 100 rc_expo = 70 rc_yaw_expo = 20 thr_mid = 0 thr_expo = 50 roll_rate = 15 pitch_rate = 15 yaw_rate = 25 tpa_rate = 0
Grtz, Niels (Netherlands) • Posts: 5,314 Threads: 672 Likes Received: 3,155 in 1,743 posts Likes Given: 2,027 Joined: Jan 2016 Reputation: 139 your Blackbox recording resolution seems a bit too low... I recommend using 1:1 for future logs. so you are running LuxFloat? i think your P gain is unusually low (at 0.7 for both roll/pitch?) Forget about rate for now, just focus on PID... I would recommend bumping up P for both roll/pitch to 2.0, both D to 0.020. yaw P to 3.5 record BB log at 1:1 and we can check again. • Posts: 10 Threads: 3 Likes Received: 1 in 1 posts Likes Given: 4 Joined: Mar 2016 Reputation: 0 23-Mar-2016, 10:27 AM (This post was last modified: 23-Mar-2016, 11:01 AM by allrounder_w.l.c..) That's right I'm running LuxFloat. Right now I've changed my rates back to zero, and the P values like you said. new pid values: Code: p_pitchf = 2.000 i_pitchf = 0.400 d_pitchf = 0.020 p_rollf = 2.000 i_rollf = 0.400 d_rollf = 0.020 p_yawf = 3.500 i_yawf = 0.400 d_yawf = 0.000
I will change my BB log to 1:1 and make a new log this afternoon with the new PID's. screenshot cleanflight pidtuning: https://www.dropbox.com/s/yxfhwbzz592a3j....docx?dl=0 • Posts: 5,314 Threads: 672 Likes Received: 3,155 in 1,743 posts Likes Given: 2,027 Joined: Jan 2016 Reputation: 139 wait.. why is your PID so high in the GUI? reset them to default in the GUI and work from there... also I recommend using Re-write, scaling is larger so easier to tune. • Posts: 10 Threads: 3 Likes Received: 1 in 1 posts Likes Given: 4 Joined: Mar 2016 Reputation: 0 23-Mar-2016, 08:18 PM (This post was last modified: 23-Mar-2016, 08:23 PM by allrounder_w.l.c..) Dear Oscar, Ok I've changed al my settings to default and use Re-Write now. first flight with default settings was great, no problems at all. Then I started to increase P roll/pitch to see what should happen. Here are two logs from my flights with different P values. I hope you can give me some help to continue tuning my quad. This time the logs in 1:1. And I hope you can give me some more information (maybe with some pictures) where to look at when you tune a quad with blackbox. I've read your blog and it's very interesting but I still find it very difficult to understand the differents in wiggles in blackbox . We are currently with four quad pilots at our club and are very enthusiastic to learn as much as possible about quad flying and tuning! Log number 1(I think this is too high P?): P-roll 7.2 I-roll 0.040 D-roll 18 P-pitch 7.8 I-pitch 0.040 D-pitch 22 https://www.dropbox.com/s/tg4fz7epbe2yjc...8.TXT?dl=0 Log number 2(Smooth flying on sight, but with a punch out it sounds like the motors oscilate): P-roll 6.6 I-roll 0.040 D-roll 18 P-pitch 7.2 I-pitch 0.040 D-roll 22 https://www.dropbox.com/s/kgmob61walyn6p...2.TXT?dl=0 Code: # version # BetaFlight/MOTOLAB 2.5.4 Mar 23 2016 / 00:50:14 (391dad4) # dump master # mixer mixer QUADX mmix reset 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 -ONESHOT125 feature -BLACKBOX feature -CHANNEL_FORWARDING feature RX_PPM feature VBAT feature FAILSAFE feature ONESHOT125 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 20 1 115200 57600 0 115200 serial 0 1 115200 57600 0 115200 serial 1 0 115200 57600 0 115200 serial 2 0 115200 57600 0 115200 # led led 0 15,15:ES:IA:0 led 1 15,8:E:WF:0 led 2 15,7:E:WF:0 led 3 15,0:NE:IA:0 led 4 8,0:N:F:0 led 5 7,0:N:F:0 led 6 0,0:NW:IA:0 led 7 0,7:W:WF:0 led 8 0,8:W:WF:0 led 9 0,15:SW:IA:0 led 10 7,15:S:WF:0 led 11 8,15:S:WF:0 led 12 7,7:U:WF:0 led 13 8,7:U:WF:0 led 14 7,8:D:WF:0 led 15 8,8:D:WF: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:::0 led 29 0,0:::0 led 30 0,0:::0 led 31 0,0:::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 # aux aux 0 0 0 900 1500 aux 1 2 2 1700 2100 aux 2 27 2 900 1300 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 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 # 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 set mid_rc = 1500 set min_check = 1040 set max_check = 1900 set rssi_channel = 0 set rssi_scale = 30 set rssi_ppm_invert = OFF set input_filtering_mode = OFF set rc_smoothing = OFF set roll_yaw_cam_mix_degrees = 0 set max_aux_channels = 6 set debug_mode = NONE set min_throttle = 1030 set max_throttle = 1850 set min_command = 1000 set servo_center_pulse = 1500 set 3d_deadband_low = 1406 set 3d_deadband_high = 1514 set 3d_neutral = 1460 set 3d_deadband_throttle = 50 set use_oneshot42 = OFF set use_multishot = OFF 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 = 10 set small_angle = 25 set fixedwing_althold_dir = 1 set reboot_character = 82 set serialrx_provider = SPEK1024 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_pid_compensation = OFF 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 = 8 set gyro_soft_lpf = 60.000 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 yaw_jump_prevention_limit = 200 set tri_unarmed_servo = ON set servo_lowpass_freq = 400 set servo_lowpass_enable = OFF set acro_plus_factor = 30 set acro_plus_offset = 40 set failsafe_delay = 10 set failsafe_off_delay = 10 set failsafe_throttle = 1060 set failsafe_kill_switch = OFF set failsafe_throttle_low_delay = 100 set failsafe_procedure = ON 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 = 2 set acc_trim_roll = 2 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 = AUTO set mag_hardware = AUTO set mag_declination = 0 set pid_process_denom = 1 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 # profile profile 0 set yaw_p_limit = 300 set pid_delta_method = MEASUREMENT set dterm_lpf_hz = 0.000 set dterm_average_count = 4 set pid_controller = MWREWRITE set p_pitch = 72 set i_pitch = 40 set d_pitch = 22 set p_roll = 66 set i_roll = 40 set d_roll = 18 set p_yaw = 90 set i_yaw = 50 set d_yaw = 0 set p_pitchf = 0.250 set i_pitchf = 0.400 set d_pitchf = 0.001 set p_rollf = 0.250 set i_rollf = 0.400 set d_rollf = 0.001 set p_yawf = 0.750 set i_yawf = 0.400 set d_yawf = 0.000 set level_horizon = 4.000 set level_angle = 4.000 set sensitivity_horizon = 75 set p_alt = 50 set i_alt = 0 set d_alt = 0 set p_level = 30 set i_level = 30 set d_level = 100 set p_vel = 120 set i_vel = 45 set d_vel = 1 # rateprofile rateprofile 0 set rc_rate = 100 set rc_expo = 70 set rc_yaw_expo = 20 set thr_mid = 0 set thr_expo = 50 set roll_rate = 0 set pitch_rate = 0 set yaw_rate = 25 set tpa_rate = 0 set tpa_breakpoint = 1500 # rateprofile rateprofile 1 set rc_rate = 100 set rc_expo = 70 set rc_yaw_expo = 20 set thr_mid = 50 set thr_expo = 0 set roll_rate = 0 set pitch_rate = 0 set yaw_rate = 0 set tpa_rate = 0 set tpa_breakpoint = 1500 # rateprofile rateprofile 2 set rc_rate = 100 set rc_expo = 70 set rc_yaw_expo = 20 set thr_mid = 50 set thr_expo = 0 set roll_rate = 0 set pitch_rate = 0 set yaw_rate = 0 set tpa_rate = 0 set tpa_breakpoint = 1500 # Active rateprofile for profile 0, rateprofile 0 # profile profile 1 set yaw_p_limit = 300 set pid_delta_method = MEASUREMENT set dterm_lpf_hz = 0.000 set dterm_average_count = 4 set pid_controller = MWREWRITE set p_pitch = 54 set i_pitch = 40 set d_pitch = 22 set p_roll = 42 set i_roll = 40 set d_roll = 18 set p_yaw = 90 set i_yaw = 50 set d_yaw = 0 set p_pitchf = 1.400 set i_pitchf = 0.400 set d_pitchf = 0.010 set p_rollf = 1.100 set i_rollf = 0.400 set d_rollf = 0.010 set p_yawf = 2.500 set i_yawf = 0.400 set d_yawf = 0.000 set level_horizon = 4.000 set level_angle = 4.000 set sensitivity_horizon = 75 set p_alt = 50 set i_alt = 0 set d_alt = 0 set p_level = 30 set i_level = 30 set d_level = 100 set p_vel = 120 set i_vel = 45 set d_vel = 1 # rateprofile rateprofile 0 set rc_rate = 100 set rc_expo = 70 set rc_yaw_expo = 20 set thr_mid = 50 set thr_expo = 0 set roll_rate = 0 set pitch_rate = 0 set yaw_rate = 0 set tpa_rate = 0 set tpa_breakpoint = 1500 # rateprofile rateprofile 1 set rc_rate = 100 set rc_expo = 70 set rc_yaw_expo = 20 set thr_mid = 50 set thr_expo = 0 set roll_rate = 0 set pitch_rate = 0 set yaw_rate = 0 set tpa_rate = 0 set tpa_breakpoint = 1500 # rateprofile rateprofile 2 set rc_rate = 100 set rc_expo = 70 set rc_yaw_expo = 20 set thr_mid = 50 set thr_expo = 0 set roll_rate = 0 set pitch_rate = 0 set yaw_rate = 0 set tpa_rate = 0 set tpa_breakpoint = 1500 # Active rateprofile for profile 1, rateprofile 0
Thank you for all the information and the time you spend in this forum and your blogs! Grtz, Niels • Posts: 19 Threads: 3 Likes Received: 1 in 1 posts Likes Given: 0 Joined: Jan 2016 Reputation: 2 • Posts: 10 Threads: 3 Likes Received: 1 in 1 posts Likes Given: 4 Joined: Mar 2016 Reputation: 0 After some troubleshooting and help from another forum I found the problem of the glitch. Min Throttle was too low wich caused my motors to desync during the roll/flip. Right now I've updated betaflight, and did a lot of tuning. It flyes great right now! Currently using DAL 5040's because I'm waiting for new gemfan 6045's. The DAL 5040's causes some vibration while make a rapid stop with high power. Here is my latest blackboxlog and a cli dump. You guys have some suggestions how to smooth the ripples up? blackboxlog: https://www.dropbox.com/s/g50kj42k2udx5y...er%29?dl=0 CLI dump: Code: # version # BetaFlight/MOTOLAB 2.6.0 Mar 31 2016 / 23:04:51 (24b97ae) # dump master # mixer mixer QUADX mmix reset 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 -ONESHOT125 feature -BLACKBOX feature -CHANNEL_FORWARDING feature RX_PPM feature VBAT feature FAILSAFE feature ONESHOT125 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 20 1 115200 57600 0 115200 serial 0 1 115200 57600 0 115200 serial 1 0 115200 57600 0 115200 serial 2 0 115200 57600 0 115200 # led led 0 15,15:ES:IA:0 led 1 15,8:E:WF:0 led 2 15,7:E:WF:0 led 3 15,0:NE:IA:0 led 4 8,0:N:F:0 led 5 7,0:N:F:0 led 6 0,0:NW:IA:0 led 7 0,7:W:WF:0 led 8 0,8:W:WF:0 led 9 0,15:SW:IA:0 led 10 7,15:S:WF:0 led 11 8,15:S:WF:0 led 12 7,7:U:WF:0 led 13 8,7:U:WF:0 led 14 7,8:D:WF:0 led 15 8,8:D:WF: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:::0 led 29 0,0:::0 led 30 0,0:::0 led 31 0,0:::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 # aux aux 0 0 0 900 1450 aux 1 2 2 1700 2100 aux 2 27 2 900 1300 aux 3 28 1 900 1300 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 # 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 set mid_rc = 1475 set min_check = 1040 set max_check = 1900 set rssi_channel = 0 set rssi_scale = 30 set rssi_ppm_invert = OFF set input_filtering_mode = OFF set rc_smoothing = OFF set roll_yaw_cam_mix_degrees = 0 set max_aux_channels = 6 set debug_mode = NONE set min_throttle = 1075 set max_throttle = 1990 set min_command = 1000 set servo_center_pulse = 1500 set 3d_deadband_low = 1406 set 3d_deadband_high = 1514 set 3d_neutral = 1460 set 3d_deadband_throttle = 50 set use_oneshot42 = OFF set use_multishot = OFF 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 = SPEK1024 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 = 34 set vbat_hysteresis = 1 set vbat_pid_compensation = OFF 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 = 8 set gyro_lowpass_hz = 80.000 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 yaw_jump_prevention_limit = 200 set tri_unarmed_servo = ON set servo_lowpass_freq = 400 set servo_lowpass_enable = OFF set super_expo_factor = 30 set failsafe_delay = 10 set failsafe_off_delay = 20 set failsafe_throttle = 1070 set failsafe_kill_switch = OFF set failsafe_throttle_low_delay = 100 set failsafe_procedure = OFF 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 = AUTO set mag_hardware = AUTO set mag_declination = 0 set pid_process_denom = 1 set blackbox_rate_num = 1 set blackbox_rate_denom = 2 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 # profile profile 0 ############################# PROFILE VALUES #################################### profile 0 set yaw_p_limit = 400 set pid_delta_method = MEASUREMENT set dterm_lowpass_hz = 70.000 set dterm_average_count = 4 set iterm_reset_degrees = 200 set yaw_iterm_reset_degrees = 50 set yaw_lowpass_hz = 70.000 set pid_controller = LUX set p_pitch = 82 set i_pitch = 30 set d_pitch = 8 set p_roll = 81 set i_roll = 30 set d_roll = 11 set p_yaw = 72 set i_yaw = 40 set d_yaw = 6 set sensitivity_horizon = 75 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 = 0 rateprofile 0 # rateprofile rateprofile 0 set rc_rate = 100 set rc_expo = 60 set rc_yaw_expo = 20 set thr_mid = 50 set thr_expo = 0 set roll_rate = 45 set pitch_rate = 45 set yaw_rate = 40 set tpa_rate = 0 set tpa_breakpoint = 1500 #
• Posts: 5,314 Threads: 672 Likes Received: 3,155 in 1,743 posts Likes Given: 2,027 Joined: Jan 2016 Reputation: 139 19-Apr-2016, 11:29 PM (This post was last modified: 19-Apr-2016, 11:30 PM by Oscar.) looks really good to me.. motors output are silky smooth! If you are happy with it probably just leave it... I haven't tried the latest BF yet so I can't suggest much but If you want you can try to lower P for both roll and pitch just a bit (less than 0.5)... and maybe lower D a bit as well for them since you don't have much overshoot. • Posts: 10 Threads: 3 Likes Received: 1 in 1 posts Likes Given: 4 Joined: Mar 2016 Reputation: 0 (19-Apr-2016, 11:29 PM)Oscar Wrote: looks really good to me.. motors output are silky smooth! If you are happy with it probably just leave it... I haven't tried the latest BF yet so I can't suggest much but If you want you can try to lower P for both roll and pitch just a bit (less than 0.5)... and maybe lower D a bit as well for them since you don't have much overshoot. Thnx Oscar. I'm very happy with these settings. Will try to lower the P and D for some more smoothness. • Posts: 10 Threads: 3 Likes Received: 1 in 1 posts Likes Given: 4 Joined: Mar 2016 Reputation: 0 03-May-2016, 10:20 PM (This post was last modified: 03-May-2016, 10:20 PM by allrounder_w.l.c..) The gemfan 6045 arrived and sadly the PID's for the 5040 don't match the 6045 ofcourse. Found some PID's from motomoto and the quad feels fine with it, but I think it doesn't feel as locked as with the 5040 props. Hope you can help me fine tune. Setup is still the same, with 6045 props. blackbox: https://www.dropbox.com/s/fsd8qft3wvmq2s...8.TXT?dl=0 CLI: Code: version # BetaFlight/MOTOLAB 2.6.1 Apr 8 2016 / 22:49:43 (bdaf8ec) # dump master # mixer mixer QUADX mmix reset 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 -ONESHOT125 feature -BLACKBOX feature -CHANNEL_FORWARDING feature -TRANSPONDER feature RX_PPM feature VBAT feature FAILSAFE feature ONESHOT125 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 20 1 115200 57600 0 115200 serial 0 1 115200 57600 0 115200 serial 1 0 115200 57600 0 115200 serial 2 0 115200 57600 0 115200 # led led 0 15,15:ES:IA:0 led 1 15,8:E:WF:0 led 2 15,7:E:WF:0 led 3 15,0:NE:IA:0 led 4 8,0:N:F:0 led 5 7,0:N:F:0 led 6 0,0:NW:IA:0 led 7 0,7:W:WF:0 led 8 0,8:W:WF:0 led 9 0,15:SW:IA:0 led 10 7,15:S:WF:0 led 11 8,15:S:WF:0 led 12 7,7:U:WF:0 led 13 8,7:U:WF:0 led 14 7,8:D:WF:0 led 15 8,8:D:WF: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:::0 led 29 0,0:::0 led 30 0,0:::0 led 31 0,0:::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 # aux aux 0 0 0 900 1500 aux 1 27 0 900 1500 aux 2 25 1 900 1500 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 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 # 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 set mid_rc = 1500 set min_check = 1040 set max_check = 1900 set rssi_channel = 0 set rssi_scale = 30 set rssi_ppm_invert = OFF set input_filtering_mode = OFF set rc_smoothing = OFF set roll_yaw_cam_mix_degrees = 0 set max_aux_channels = 6 set debug_mode = NONE set min_throttle = 1065 set max_throttle = 1950 set min_command = 1000 set servo_center_pulse = 1500 set 3d_deadband_low = 1406 set 3d_deadband_high = 1514 set 3d_neutral = 1460 set 3d_deadband_throttle = 50 set use_oneshot42 = OFF set use_multishot = OFF 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 = SPEK1024 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 vbat_pid_compensation = OFF 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 = 8 set gyro_lowpass_hz = 80.000 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 yaw_jump_prevention_limit = 200 set tri_unarmed_servo = ON set servo_lowpass_freq = 400 set servo_lowpass_enable = OFF set super_expo_factor = 30 set failsafe_delay = 10 set failsafe_off_delay = 40 set failsafe_throttle = 1100 set failsafe_kill_switch = OFF set failsafe_throttle_low_delay = 100 set failsafe_procedure = OFF 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 = AUTO set mag_hardware = AUTO set mag_declination = 0 set pid_process_denom = 1 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 # profile profile 0 ############################# PROFILE VALUES #################################### profile 0 set yaw_p_limit = 400 set pid_delta_method = MEASUREMENT set dterm_lowpass_hz = 70.000 set dterm_average_count = 4 set iterm_reset_degrees = 200 set yaw_iterm_reset_degrees = 50 set yaw_lowpass_hz = 70.000 set pid_controller = LUX set p_pitch = 32 set i_pitch = 30 set d_pitch = 15 set p_roll = 32 set i_roll = 30 set d_roll = 15 set p_yaw = 50 set i_yaw = 40 set d_yaw = 0 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 = 100 set rc_expo = 60 set rc_yaw_expo = 20 set thr_mid = 50 set thr_expo = 0 set roll_rate = 70 set pitch_rate = 70 set yaw_rate = 60 set tpa_rate = 0 set tpa_breakpoint = 1500
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