Quad - Help Needed !

[Mark]

Hey guys,

I've been trying to build my quadri since almost one year now, with some long period of break because of a lot of frustration
I have tried 3 different frames with the same result, so now enough is enough that's why I need your help.

Here is a capture of my MultiwiiConf
http://youtu.be/cLlU0m1COYo

As you can see when I throttle up just enough to spin the motor, they just start to jump from min to max like crazy (the video is accelerated for some reason I ignore , 13 sec instead of 20, but you get the picture)
The quad is sitting on a soft carpet, and the IMU is foam-taped on foam.

What about the gyro graph, does it look normal or too shaky ?

My config is a quad with 2209 Turnigy motors, hobbyking ESC 25-30A (range calibrated), 9x5 propellers balanced (I paid huge attention to that)
I am running Multiwii 2.0, same problem with 1.9
My IMU is Drotek 10dof, in the video only gyro is activated

If I lower D value to 0 for pitch and roll it's a bit better but not flyable, and P and I have not much influence.

I am completely lost so if you have any suggestion...

From my side I am pretty sure that :
Frame is Ok
Motors - ESC - Propeller are Ok
Multiwii is properly configured
Arduino, well, it's just running the code
Rx/Tx er9x never had any problem

So only IMU or MultiWiiConf could be the problem.
I think tomorrow I'll go get a simple WMP and try.

[tovrin]

i see a couple things of immediate interest.
1. the moment you arm your motors i see a lot of vibration. no bueno.
2. debug is going crazy. something is not right.
3. turn off your acc, baro and mag for initial tests, they are likely not even calibrated, and completely unnecessary till your flight worthy

balance your props, lets get rid of the vibration, if that doesnt help enable the lpf for your acc.

how about a rundown of what you have selected in config.h, might spot a problem there, for the debug issue.

[Mark]

1. the moment you arm your motors i see a lot of vibration. no bueno.

The video starts with motor already armed, and when the motors start to spin (minimum speed) yes the gyro is going crazy, but believe me vibrations are minimal.

2. debug is going crazy. something is not right.

Yes something is wrong but what ?
What I have to change to keep it to zero ?

Here is my config.h
http://pastebin.com/sC1Sfzvp

3. turn off your acc, baro and mag for initial tests, they are likely not even calibrated, and completely unnecessary till your flight worthy

They are already off, detected but turned off.

So this morning I bought a WMP, and solder it on my board, and it's working so nice with the same frame, motors, propellers.
When I give throttle the gyro remains dead flat and the motors have regular speed, debug is at 0.

What can I do, is my IMU faulty ? the confg.h is wrong ?
Help requested

[tovrin]

the drotek is much much more sensitive than the wmp, try enabling the LPF.

#define ITG3200_LPF_98HZ (I use 98hz on my mpu6050)

though that doesnt solve the debug errors, ive not had debug problems so i am going to let someone else pick up this one and ill learn too!

[Mark]

Thank you Tovrin for your help.
I just finish to test the LPF, all the way down to 10HZ, even though there is an little improvement at low speed, as soon as I throttle up gyro and motors are going crazy.
Indeed debug errors are still here.

I hope someone else can help me
Thanks anyway

[Mark]

Is there a way to edit the code to lower the impact of the gyro reading on the motors, maybe a factor 10 - 100 - 1000 or more
Or if we do that, it changes so many things which will be too complicated for me