MultiWii

What is the best way to trimm auto level when you have perfect hovering in acro mode?

I have this already written in the big rcgroups thread, but here again now:


Okay, so a little summarize to make it clear to all, or at least i hope so.


How to trim your Copter:

1. Trim in "acro" = headholding mode:

Calibration is made on each power on, but you can do it manually like before:
Full throttle down + full yaw left + full pitch down

Just fly in acro mode and trim your copter with the trims on your transmitter.
No need to land, just do it in the air and trim as long as it looks good for you.


2. Trim in "stable" = ACC mode:

1. You have to trim your copter in "acro" mode before. So your copter is perfectly trimmed in acro mode. Otherwise you are overmixing trims from acro mode to stable mode and you have to trim stable mode again.

2. You have to calibrate ACC.
Copter must be stable and level at the ground.
Motors disarmed.
Full throttle up + full yaw left + full pitch backward

3. Now start motors and fly in stable mode.
Normally its better to start here as normal in acro mode and switch to stable mode while in the air. Because if stable mode needs much trim, its easier to fly in acro mode.

Okay, so you are now with stable mode in the air and the copter drifts to the right and backwards.
Switch back to acro (easier to land) and land your copter.
Disarm motors.

4. Now trim the ACC mode.
Don't touch your trims on the transmitter.
Give full throttle (must be >1900)
With the help of your roll and pitch stick you could now trim the ACC mode.
full PITCH forward/backward and full ROLL left/right (2 axis possibilities) will trim the level mode according to the neutral angle you want to change. The status LED will blink to confirm each ticks.

So in our example above, i have to move the pitch stick full forward about 4-5x. That means from neutral to full and back to neutral, 4-5 times.
You will here the buzzer each time beep and see the led each time blink, when move full forward.
The same for the roll axis. About 1-2x full roll to the left, because my drift on the roll was less than on the pitch axis.

After that start your motors and do again 3. until your copter is complete in level in ACC mode.

If you want to reset the ACC trims, just do step 2. (ACC calibration)

I hope that makes it clear.

Thanks, it works! Really good "how to".

I think this post should sticky in the getting started section.

it's also in the FAQ
http://www.multiwii.com/?page_id=100

I have done all the calibrating and such. I have my quad working perfectly in regular mode, but in stable mode it is very wobblely and wants to flip. any Ideas how I can fix this. do I need to change any of the setting on the GUI. Like the PID, or rates etc. at the moment my P= 3.6 and my D= 9 the I is left alone.

I have noticed that if the P value is too high, you will notice quick wobbles, if P is too low you will notice slow wobbles. In perfect PID settings, it should not wobble and all the motors run on a smooth speed. I noticed if I set P too high, the motors seem to overwork to balance the quad which makes the motors more noisy. What accel are you using? Have you checked in configurator if your accel is too sensitive? Usually if you do not pad your sensors well, the vibrations caused by running motors will easily affect your sensor readings and that could cause wobbles as well. If you are using a separate sensor board, try to pad it with foam tape or something similar between the sensor board and main quad frame, which will minimize the transfer of vibration from the frame to your sensors. I hope this helps.

I also have one question.
I've set all the trims to the point that it hovers pretty stable in auto or acro.
But when I am flying arround with auto on, it's quite shaky. Which settings should I change?

How Quadslo,
If you have issue only in stable mode, you might want to tweak your Autolevel strength. Try increasing it first a little bit, if that makes the situation worse, decrease it until it becomes stable.

its awesome that we can now trim acc mode like this now. great work alex.

once autolev is trimmed do you find you have to trim again later for drift or due to lower lipo power?

Just to let Alex and Blue Angel know:
[like a vary,very, very happy kid] _" I got it!!!, I got it!"...it is much more strait now. I ´ve been told about Shikra´s mode....I will try it, looking for the stability I see on some movies ,like the one at multiwiicopter.com.

needless to say, Thank you!