Open Lalbabu2001 opened 3 months ago
There could be a couple different relative settings. Please attach your diff so we can see what your settings are. Thanks.
There could be a couple different relative settings. Please attach your diff so we can see what your settings are. Thanks.
Here it is:
diff all
batch start
defaults noreboot
mmix reset
mmix 0 1.000 -1.000 1.000 -1.000 mmix 1 1.000 -1.000 -1.000 1.000 mmix 2 1.000 1.000 1.000 1.000 mmix 3 1.000 1.000 -1.000 -1.000
smix reset
smix 0 1 12 350 0 -1 smix 1 1 10 100 0 -1
servo 1 1300 2000 1500 -100 servo 2 1000 2000 1500 -100
feature -TELEMETRY feature -BLACKBOX feature -AIRMODE feature LED_STRIP feature PWM_OUTPUT_ENABLE
blackbox NAV_ACC blackbox NAV_POS blackbox NAV_PID blackbox MAG blackbox ACC blackbox ATTI blackbox RC_DATA blackbox RC_COMMAND blackbox MOTORS blackbox GYRO_RAW blackbox PEAKS_R blackbox PEAKS_P blackbox PEAKS_Y
map TAER
serial 0 2 115200 115200 0 115200
led 0 8,7::L:2
aux 0 0 0 1725 2075 aux 1 1 0 925 2050 aux 2 3 0 950 2050
set looptime = 500 set gyro_main_lpf_hz = 40 set gyro_main_lpf_type = PT1 set dynamic_gyro_notch_q = 250 set dynamic_gyro_notch_min_hz = 60 set dynamic_gyro_notch_mode = 3D set setpoint_kalman_q = 200 set gyro_zero_x = 126 set gyro_zero_y = 166 set gyro_zero_z = 6 set ins_gravity_cmss = 977.204 set acc_hardware = MPU9250 set acc_lpf_hz = 5 set acczero_x = 8 set acczero_y = -25 set acczero_z = -44 set accgain_x = 4100 set accgain_y = 4092 set accgain_z = 4000 set align_mag = CW180 set mag_hardware = HMC5883 set magzero_x = 425 set magzero_y = 34 set magzero_z = 6 set maggain_x = 607 set maggain_y = 605 set maggain_z = 565 set baro_hardware = BMP280 set rc_filter_auto = OFF set blackbox_rate_denom = 2 set motor_pwm_protocol = STANDARD set failsafe_delay = 30 set failsafe_procedure = DROP set align_board_roll = -16 set align_board_pitch = -26 set vbat_scale = 430 set model_preview_type = 3 set applied_defaults = 5 set gps_sbas_mode = AUTO set gps_ublox_use_galileo = ON set deadband = 25 set yaw_deadband = 25 set airmode_type = THROTTLE_THRESHOLD set inav_w_z_baro_p = 0.300 set inav_w_z_gps_p = 0.500 set inav_w_z_gps_v = 0.300 set nav_use_midthr_for_althold = ON set nav_user_control_mode = CRUISE set nav_auto_speed = 350 set nav_max_auto_speed = 350 set nav_auto_climb_rate = 120 set nav_manual_speed = 350 set nav_manual_climb_rate = 120 set nav_mc_bank_angle = 15
profile 1 (I only use this profile)
set mc_p_pitch = 90 set mc_i_pitch = 25 set mc_d_pitch = 100 set mc_cd_pitch = 0 set mc_p_roll = 90 set mc_d_roll = 100 set mc_cd_roll = 0 set mc_p_yaw = 100 set mc_i_yaw = 40 set mc_cd_yaw = 0 set max_angle_inclination_rll = 150 set max_angle_inclination_pit = 150 set dterm_lpf_hz = 60 set dterm_lpf_type = PT3 set nav_mc_pos_z_p = 180 set nav_mc_vel_z_p = 200 set nav_mc_vel_z_i = 60 set nav_mc_pos_xy_p = 40 set nav_mc_vel_xy_p = 30 set nav_mc_vel_xy_i = 10 set nav_mc_vel_xy_d = 80 set nav_mc_vel_xy_ff = 0 set mc_iterm_relax = RPY set d_boost_min = 0.800 set d_boost_max = 1.200 set antigravity_gain = 2.000 set antigravity_accelerator = 5.000 set smith_predictor_delay = 1.500 set thr_expo = 65 set tpa_rate = 20 set tpa_breakpoint = 1200 set rc_expo = 50 set rc_yaw_expo = 50 set roll_rate = 50 set pitch_rate = 50 set yaw_rate = 6 set manual_rc_expo = 50 set manual_rc_yaw_expo = 50
profile 2
set mc_p_pitch = 44 set mc_i_pitch = 85 set mc_d_pitch = 28 set mc_i_roll = 75 set mc_d_roll = 26 set mc_p_yaw = 40 set mc_i_yaw = 80 set dterm_lpf_hz = 80 set dterm_lpf_type = PT3 set mc_iterm_relax = RPY set d_boost_min = 0.800 set d_boost_max = 1.200 set antigravity_gain = 2.000 set antigravity_accelerator = 5.000 set smith_predictor_delay = 1.500 set tpa_rate = 20 set tpa_breakpoint = 1200 set rc_expo = 75 set rc_yaw_expo = 75 set roll_rate = 70 set pitch_rate = 70 set yaw_rate = 60
profile 3
set mc_p_pitch = 44 set mc_i_pitch = 85 set mc_d_pitch = 28 set mc_i_roll = 75 set mc_d_roll = 26 set mc_p_yaw = 40 set mc_i_yaw = 80 set dterm_lpf_hz = 80 set dterm_lpf_type = PT3 set mc_iterm_relax = RPY set d_boost_min = 0.800 set d_boost_max = 1.200 set antigravity_gain = 2.000 set antigravity_accelerator = 5.000 set smith_predictor_delay = 1.500 set tpa_rate = 20 set tpa_breakpoint = 1200 set rc_expo = 75 set rc_yaw_expo = 75 set roll_rate = 70 set pitch_rate = 70 set yaw_rate = 60
battery_profile 1
set vbat_cell_detect_voltage = 440 set throttle_idle = 10.000 set nav_mc_hover_thr = 1350
battery_profile 2
battery_profile 3
profile 1 battery_profile 1
save
#
Current settings from the diff:
set nav_mc_pos_z_p = 180 set nav_mc_vel_z_p = 200 set nav_mc_vel_z_i = 60
Defaults:
| Default | Min | Max | | 50 | 0 | 255 |
I gain of velocity PID controller | Default | Min | Max | | 50 | 0 | 255 |
| Default | Min | Max | | 100 | 0 | 255 |
nav_mc_pos_z_p appears to be currently set to 350% of the default, nav_mc_vel_z_p set to double the default. Both nearly maxed out.
You may want to test with values much closer to the defaults.
Can you provide a log file ... would make it easier to work out what the issue is ?
Can you provide a log file ... would make it easier to work out what the issue is ?
Yeah sure, [Uploading blackbox_log_2024-03-21_171716.TXT…]()
Here are some images too
Please review
The log file link doesn't work, just reloads the issue page.
The log file link doesn't work, just reloads the issue page.
Here it is. [Uploading blackbox_log_2024-03-21_171716-1.TXT…]() https://drive.google.com/file/d/1HkbFLPIKFssm0UPSKEP5sPFZktBFC1wt/view?usp=drivesdk
Looks like a Baro problem. In the first log you posted above, Baro altitude goes from 8.5m to 10.2m in a second even though acc[Z] remains unchanged indicating the Baro increase is false. The quad reacts by descending rather than rising as the Baro reading would indicate.
Is the Baro covered with a bit of foam to damp out prop wash affects and also is the Baro chip potentially exposed to sunlight when the quad is flying ? Direct sun on the Baro chip can cause significant fluctuations in the reading.
Looks like a Baro problem. In the first log you posted above, Baro altitude goes from 8.5m to 10.2m in a second even though acc[Z] remains unchanged indicating the Baro increase is false. The quad reacts by descending rather than rising as the Baro reading would indicate.
Is the Baro covered with a bit of foam to damp out prop wash affects and also is the Baro chip potentially exposed to sunlight when the quad is flying ? Direct sun on the Baro chip can cause significant fluctuations in the reading.
Here is another log with more foam over baro, the default pid setting nav_mc_pos_z_p =50 is too low and quad was loose altitude therefore I increased it to 200 . Now the quad is maintaining altitude fine, but the problem of throttle input remains same, as in new blackbox log you can see as soon I down the throttle input back to mid(1500) the quad drops some altitude.
https://drive.google.com/file/d/1J-V93eOJCwLUk1sXvAC2U1Ayy097hbx3/view?usp=drivesdk
Looks like a Baro problem. In the first log you posted above, Baro altitude goes from 8.5m to 10.2m in a second even though acc[Z] remains unchanged indicating the Baro increase is false. The quad reacts by descending rather than rising as the Baro reading would indicate.
Is the Baro covered with a bit of foam to damp out prop wash affects and also is the Baro chip potentially exposed to sunlight when the quad is flying ? Direct sun on the Baro chip can cause significant fluctuations in the reading. Please review the recent log, I think there might be some pid or filter making this issue
Please review the recent log , I think there might be some pid or filter making this issue
I think the problem here is it isn't possible to know if navPos[2]
is correct or if the Baro altitude is correct in the log. navPos[2]
seems to correctly follow the demanded navTgtPos[2]
within a few cm's whilst Baro altitude wanders around by over a meter or more. Is the Baro altitude representative of the altitude fluctuations you're seeing, indicating navPos[2]
is wrong, or the other way around ? I'm guessing the former is true.
So what settings to change
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Current Behavior
I have been facing this issue since day 1 , after reading those wrost documentation about althold for inav I still don't know how altitude hold mode works , how baro , acc z weight distribution works anyway let's discuss the problem which is whenever I fly in altitude hold mode the quad maintains altitude well, when when I try to make adjustment,let's say raise throttle above 50% to gains height but undershoot(bounces back few meters down) & same behaviour in case of throttle down also( bounces back up few meters). My setup is 2212 920kv motor, 10 inch pro, stm32f411, mpu 6500 , bmp280 , 3s 5500mah. Howering throttle is about 1350 .
Steps to Reproduce
1.arm in altitude hold mode, 2.raise throttle above 50% to lift quad couple of meters in the air . 3.lower throttle to 50%(middle) to maintain that altitude
Expected behavior
I also flew ardupilot and never had this issue.
Suggested solution(s)
Additional context