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warpquad PID tuning help
#1
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)
Reply
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#2
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.
Don't be a LOS'er, be an FPV'er :)  My Gear - Facebook - Instagram - Twitter
Reply
#3
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
Reply
#4
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.
Don't be a LOS'er, be an FPV'er :)  My Gear - Facebook - Instagram - Twitter
Reply
#5
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 Rolleyes .

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
Reply
#6
here is a link that might help you :
http://www.rcgroups.com/forums/showthread.php?t=2461436
Reply
#7
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

#
Reply
#8
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 Smile 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.
Don't be a LOS'er, be an FPV'er :)  My Gear - Facebook - Instagram - Twitter
Reply
#9
(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 Smile 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.
Reply
#10
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
Reply


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