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?
Hamburger
New defaults for r190 compared to v1.7?
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- Posts: 1630
- Joined: Wed Jan 19, 2011 9:07 pm
Re: New defaults for r190 compared to v1.7?
It's strange, it should be the same settings
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- Posts: 1630
- Joined: Wed Jan 19, 2011 9:07 pm
Re: New defaults for r190 compared to v1.7?
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.
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.
Re: New defaults for r190 compared to v1.7?
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
Thanks, Hamburger
Re: New defaults for r190 compared to v1.7?
Hi everyone,
I have a similar problem (WMP + NK both original), but only in a stable mode.
With ITG3200 + BMA020 it is OK.
I have a similar problem (WMP + NK both original), but only in a stable mode.
With ITG3200 + BMA020 it is OK.