I just got a CC3D set up with cleanflight on a ZMR250 clone.
3S, DYS 1806, BlueSeries 12A with BLHeli 13.1, Oneshot enabled, 5030 props, AUW is 560g. Using the MWii 2.3 PID controller (#3).
First outside flight showed three issues:
1) A flip over the roll axis worked very fast and smoothly. I tried to do a front flip and the quad seemed to simply stop at a certain angle and almost crashed cause of it. This is in horizon mode.
2) Flying in horizon mode, the controls feel quite sluggish, it's very slow to react to movement. As soon as the stick goes over 50 or 60% of the way, it goes into hard flip mode. I know horizon mode from multiwii, and there the controls are quite snappy even with lower PIDs and the transition to acro is much smoother.
3) Biggest issue: Massive Yaw overshoot. If I do a 360° spin in place, it will overshoot by 90-180°. I've never seen anything like this happen on other FCs.
Video of the failed front flip and the overshoot (you can hear clearly where I stop turning and where the motors speed up again to continue the yaw movement):http://youtu.be/Xm3fLKMJ3SU
I went all the way from P 1.0 to P 15.0, I 0.1 to I 0.7, D 0 to D10. Worst case I got major overshoot and then a bounce-back afterwards on top of it. Best case, it only turned 90° instead of 180°.
I even tried PID controller 5 just to see if it makes any difference.. nope, same effect.
I tried Angle mode as well. Same issue, no change.
I tried Acro, and while not as pronounced, the issue exists even there.
I flashed openpilot back on the board, set it up, and put the Yaw mode as "Axis lock". I immediately had fully locked in Yaw, the same way I as I am used to it from multiwii.
Could there be some issue with the board rotation? I have mine rotated 90° to the left (CCW) and set the rotation to 270° in the GUI, which is what it is supposed to be according to another forum. Also, the 3d quad reacts correctly. Nontheless it seems like the quad is actually applying yaw corrections in the wrong direction.. adding to the direction rather than counteracting it.
I'm doubly confused because in Openpilot I have to set the board orientation to 90°, while on the CC3D, it's 270.
Could it be related to the yaw_direction or yaw_control_direction? I found basically no information on these two values.
Edit: To compare, this is the exact same hardware, but with Openpilot flashed to the board instead of Cleanflight:https://youtu.be/4TVChfqVob8