Hey guys, just finished a build QAV180, LittleBees 20A, Naze32 Rev6, TMotor 1806 test samples. Running with HQ 4045BN and 4S. I am noticing a weird vibration pretty much at all times during flight. It is not big and does not get worse with maneuvers or throttle. I'm running Betaflight 2.1.6.

Here is what I tried:

• Default PIDs on MultiWii rewrite - blackbox log
  
• Default PIDs on LuxFloat - blackbox log
  
• Fresh set of 4045BN props
  
• Drop dterm_cut_hz from 40 to 30
  
• I've tuned LuxFloat to lower P, lower D (much lower to what I normally run) and higher I - blackbox log
  

The last 2 steps seem to have helped some, but the gyro is still noisy even at hovering. I can hear and even see the vibration. I've never had to set the D and P that low. The vibration is a lot worse on roll than pitch.

Here are the pids on the last LuxFloat tune:

set pid_controller = LUX
set p_pitchf =  1.800
set i_pitchf =  0.500
set d_pitchf =  0.010
set p_rollf =  1.400
set i_rollf =  0.500
set d_rollf =  0.008
set p_yawf =  4.000
set i_yawf =  0.550
set d_yawf =  0.006

Any ideas are much appreciated.

I'm sorry to say that the Naze rev6 is well machined piece of sh*t, it has very noisy gyro, and even produces random yaw gyro spikes, that it's harder to tune. Also ßF 2.1.6 has the older filtering algorythm, which can't filter those rough gyro lines effectively enogh to hide it from the PID loop.
I bet you if you put in any other FC and try the default PIDs you'll be happy. If you happen to have one, please try it and report back.

Maybe it could help if you put the Naze on some dampening material.

(Me and many other people had this gyro problem since date)

(04-Feb-2016, 12:14 AM)NorbertT Wrote: I'm sorry to say that the Naze rev6 is well machined piece of sh*t, it has very noisy gyro, and even produces random yaw gyro spikes, that it's harder to tune. Also ßF 2.1.6 has the older filtering algorythm, which can't filter those rough gyro lines effectively enogh to hide it from the PID loop.
I bet you if you put in any other FC and try the default PIDs you'll be happy. If you happen to have one, please try it and report back.

Maybe it could help if you put the Naze on some dampening material.

(Me and many other people had this gyro problem since date)

I have a perfectly good SPRF3 which is what I used in my last 3 builds and had never had tuning issues. I decided to use this Naze R6 so its not sitting around. Ugh, I have to redo some of the connectors but I think I'll be switching to the F3 for good. Too bad, the Rev5 was a rock solid board and I like the header connectors better - bulkier but sturdier and easier to replace.

I might try bumping to 2.3.4 since it's little effort, before I swap FC and will report back results tomorrow.
Thanks for the help!

I experienced the same with Naze32 Rev6 (although it's with 2Khz mode, i have yet try the normal 1Khz mode)...
I think Norbert is referring to the 6500 Gyro, which is known for giving the FC noisy data, all other FC uses 6050 or 6000 i think.

Your traces look very similar to mine... which makes me think it's the Rev6

it's not even the D terms, it's mainly P terms causing the visible vibrations... do you have gyro filter on?

Thanks Oscar, I saw your troubles with 2Khz on Rev6. I'm sticking to 1KHz for now. The gyro being noisy, like you guys suggest, makes the most sense, unless its a bent motor shaft on brand new motors, that somehow resonates on the roll axis mostly

I have the defaults:
set gyro_soft_lpf = ON
set gyro_lpf = 188HZ

I'll see if the 2.3.4 upgrade with 1Khz is a Hail Marry, if not I'll swap the FC.

Well, kept the Naze32 Rev6 but upgraded to Betaflight 2.3.5. 

With default LUX pids roll vibrations were still present, but a lot more harmonious with D the main influence. (blackbox log)
I tuned down P and D a bit and also dropped the soft_gyro_lpf_hz and added dterm_lpf_hz. (blackbox log)

set pid_controller = LUX
set p_pitchf =  1.400
set i_pitchf =  0.350
set d_pitchf =  0.009
set p_rollf =  0.800
set i_rollf =  0.350
set d_rollf =  0.004
set p_yawf =  3.500
set i_yawf =  0.350
set d_yawf =  0.000
set soft_gyro_lpf_hz = 40
set dterm_lpf_hz = 40

The vibrations are minimal now, the motors come down cool enough and the quad seems flyable. Need to take it on a proper FPV session, not just LOS in my tiny backyard, to tell for sure. Thanks for the suggestions.

Yes I checked the 2nd log looks much better!
gyro still look noisier than my 220 build with rev5 though...
i think you posted the wrong PID value also

I will swap out the rev6 with a rev5 this weekend, but before test it one more time just to confirm it's the board

Those were the PIDs, unfortunately the FPV session was disappointing. The vibrations were still present. I got stubborn and kept decreasing P and D until I could not see vibrations anymore. At that point the craft was barely stable in air. I'll swap for an SPRF3 board this weekend. Here are the PIDs I flew with last, .3 P might as well be 0.

set pid_controller = LUX
set p_pitchf =  0.900
set i_pitchf =  0.400
set d_pitchf =  0.008
set p_rollf =  0.300
set i_rollf =  0.400
set d_rollf =  0.005
set p_yawf =  3.500
set i_yawf =  0.350
set d_yawf =  0.000