22 replies to this topic

[Shaun169]

Exploroman, on 23 February 2012 - 08:34 PM, said:

I'll try and help if I can. I'm still pretty new at this.
AccelBias allow you to manually set you Attitude. So first make sure your Quad is very level, us a bubble level on the x axis and y axis of your frame and get it as level as you possibly can. If you are still drifting forward and back adjust the [X] value up or down. Decrease value to reduce forward drift and increase for backward drift.

If drifting from side-to-side adjust the [Y] value up or down. Decrease value to reduce left drift and increase for right drift.

[Z] is for Yaw, but I don't think this is your problem.

Here's what I think. Have you set Axis lock for yaw on the "Flight Mode Switch Setting" tab? (All three in the Yaw Column). Second, you may need to adjust the Yaw Kp and Ki values in the Stabilization page. Try and get Kp and Ki (for yaw) as close to one another as you can.

If you have set up Ki values in Rate (inner loop) then adjust those values for yaw. If you have setup Ki in Attitude (outer loop) then adjust those Ki values for yaw. It is recommended to not use Ki in both Rate and Attitude, just one one the other. However, if you if you are still having trouble with Yaw, then try putting values in the Yaw Ki for both Rate and Attitude. (don't add Ki for both in the pitch and roll though, only yaw.)

If you are kind of rotating around then I think you should increase the Kp for yaw for both Rate and Attitude. Then make the Yaw Ki the same as the Kp.
This may help.
http://wiki.openpilo...e+Configuration

Hope this helps.

Thanks a lot for the explanation. So if I'm only using attitude mode, do I leave the rate values in yaw to 0? or do I still need adjust values on rate coloums?
I'm only gonna use attitude mode - how about the pitch and roll rate kp and ki? Do I still need to work on that or can I just leave them 0 and just find attitude values?
All these inner and outer loop thing is really confusing me for setting up the quad..

[scottevil]

Shaun169, on 27 February 2012 - 11:17 PM, said:

Thanks a lot for the explanation. So if I'm only using attitude mode, do I leave the rate values in yaw to 0? or do I still need adjust values on rate coloums?
I'm only gonna use attitude mode - how about the pitch and roll rate kp and ki? Do I still need to work on that or can I just leave them 0 and just find attitude values?
All these inner and outer loop thing is really confusing me for setting up the quad..

good question, i have the same question right now as well... and +1 it's way confusing and hard to adjust since everytime i make a minor adjustment i have to hover, then land, hook it back up, adjust and repeat.. it's killing me. But I think i might have figured out my problem, because i get very very minor wobbles from side to side when i'm descending, and i believe it might be caused by vibrations to the CC board, i don't have proper dampening for it.

[scottevil]

btw, i went to the LHS and picked up 8 dampeners for a blade CP for $4 or whatever, but they work perfectly. No more wobble!