New defaults for r190 compared to v1.7?

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New defaults for r190 compared to v1.7?

Postby Hamburger » Tue Jun 28, 2011 11:18 pm

I upgraded one TRIcopter from v1.7 to the latest dev version from the repository (r190). It was not flyable anymore with the old settings. I had to substantially lower the P-values for pitch and roll. Also had to lower the Level-P from 10 to 5 and the Level-I from the former .040 to .020.
Is this a known issue? Should the default values be adapted? Or is it just my setup that is too jittery with vibrations?
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Re: New defaults for r190 compared to v1.7?

Postby Alexinparis » Tue Jun 28, 2011 11:45 pm

It's strange, it should be the same settings
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Re: New defaults for r190 compared to v1.7?

Postby Alexinparis » Wed Jun 29, 2011 9:47 am

Hi,

There is however one main difference:
The gyro accuracy is improved between the last devs and the 1.7 and we take more gyro bits in the calculation.

I noticed the same thing with a WMP only conf (clone). And I suspect it's a little bit worse because this WMP is quite noisy.
But with a good sensor (ITG3200 for instance), it's better.
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Re: New defaults for r190 compared to v1.7?

Postby Hamburger » Wed Jun 29, 2011 10:15 am

ok. That explains the difference. I upgraded two of my copters, one to r187 and the other to r190. Both need downsizing of roll/pitch P values and PI level values.One has freeimuv01 (ITG3200, ADXL345, HMC5843), other has wmp-clone (itg655) and bma020.

Thanks, Hamburger
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Re: New defaults for r190 compared to v1.7?

Postby Stalk » Wed Jun 29, 2011 12:45 pm

Hi everyone,
I have a similar problem (WMP + NK both original), but only in a stable mode.
With ITG3200 + BMA020 it is OK.
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