Drone bouncing gps mode after moving

[danylam]

Hi, the quad is hovering nice and still with no drifting and no toilettbowling.

BUT, if i fly the quad in any direction and then let go of the sticks, the quad tilts up in a pendulum like movement, and then keeps rocking back and forth for quite some time... I have to confess that I'm not to sure about PID tuning, and I guess this has something to do with the Position XY and the Velocity XY... But I have found nothing to point me in the right direction.

Anybody can help me?

Thanks Entering CLI Mode, type 'exit' to return, or 'help' # DUMP

version INAV/KAKUTEF4V2 1.9.0 Mar 5 2018 / 01:18:34 (dc4ef59) resources mixer mixer QUADX

mmix reset

servo mix smix reset

servo servo 0 1000 2000 1500 100 -1 servo 1 1000 2000 1500 100 -1 servo 2 1000 2000 1500 100 -1 servo 3 1000 2000 1500 100 -1 servo 4 1000 2000 1500 100 -1 servo 5 1000 2000 1500 100 -1 servo 6 1000 2000 1500 100 -1 servo 7 1000 2000 1500 100 -1

feature feature -RX_PPM feature -VBAT feature -TX_PROF_SEL feature -MOTOR_STOP feature -SERVO_TILT feature -SOFTSERIAL feature -GPS feature -TELEMETRY feature -CURRENT_METER feature -3D feature -RX_PARALLEL_PWM feature -RX_MSP feature -RSSI_ADC feature -LED_STRIP feature -DASHBOARD feature -BLACKBOX feature -CHANNEL_FORWARDING feature -TRANSPONDER feature -AIRMODE feature -SUPEREXPO feature -VTX feature -RX_SPI feature -PWM_SERVO_DRIVER feature -PWM_OUTPUT_ENABLE feature -OSD feature -FW_LAUNCH feature -TRACE feature VBAT feature TX_PROF_SEL feature GPS feature CURRENT_METER feature BLACKBOX feature PWM_OUTPUT_ENABLE feature OSD

beeper beeper RUNTIME_CALIBRATION beeper HW_FAILURE beeper RX_LOST beeper RX_LOST_LANDING beeper DISARMING beeper ARMING beeper ARMING_GPS_FIX beeper BAT_CRIT_LOW beeper BAT_LOW beeper GPS_STATUS beeper RX_SET beeper ACTION_SUCCESS beeper ACTION_FAIL beeper READY_BEEP beeper MULTI_BEEPS beeper DISARM_REPEAT beeper ARMED beeper SYSTEM_INIT beeper ON_USB beeper LAUNCH_MODE beeper CAM_CONNECTION_OPEN beeper CAM_CONNECTION_CLOSED

map map AETR5678

name name 330 gps

serial serial 20 1 115200 38400 0 115200 serial 0 1 115200 38400 0 115200 serial 2 64 115200 38400 0 115200 serial 3 0 115200 38400 0 115200 serial 4 0 115200 38400 0 115200 serial 5 2 115200 115200 0 115200

aux aux 0 0 0 1875 2025 aux 1 1 2 900 1700 aux 2 3 2 1400 1900 aux 3 9 2 1725 1900 aux 4 21 3 1875 2100 aux 5 18 2 1925 2100 aux 6 0 0 900 900 aux 7 0 0 900 900 aux 8 0 0 900 900 aux 9 0 0 900 900 aux 10 0 0 900 900 aux 11 0 0 900 900 aux 12 0 0 900 900 aux 13 0 0 900 900 aux 14 0 0 900 900 aux 15 0 0 900 900 aux 16 0 0 900 900 aux 17 0 0 900 900 aux 18 0 0 900 900 aux 19 0 0 900 900

adjrange adjrange 0 0 0 900 900 0 0 adjrange 1 0 0 900 900 0 0 adjrange 2 0 0 900 900 0 0 adjrange 3 0 0 900 900 0 0 adjrange 4 0 0 900 900 0 0 adjrange 5 0 0 900 900 0 0 adjrange 6 0 0 900 900 0 0 adjrange 7 0 0 900 900 0 0 adjrange 8 0 0 900 900 0 0 adjrange 9 0 0 900 900 0 0 adjrange 10 0 0 900 900 0 0 adjrange 11 0 0 900 900 0 0

rxrange rxrange 0 1000 2000 rxrange 1 1000 2000 rxrange 2 1000 2000 rxrange 3 1000 2000

master set looptime = 2000 set gyro_sync = ON set gyro_sync_denom = 2 set align_gyro = DEFAULT set gyro_hardware_lpf = 188HZ set gyro_lpf_hz = 60 set moron_threshold = 32 set gyro_notch1_hz = 0 set gyro_notch1_cutoff = 1 set gyro_notch2_hz = 0 set gyro_notch2_cutoff = 1 set vbat_adc_channel = 1 set rssi_adc_channel = 3 set current_adc_channel = 2 set airspeed_adc_channel = 0 set acc_notch_hz = 0 set acc_notch_cutoff = 1 set align_acc = DEFAULT set acc_hardware = MPU6500 set acc_lpf_hz = 15 set acczero_x = 42 set acczero_y = -17 set acczero_z = -80 set accgain_x = 4103 set accgain_y = 4093 set accgain_z = 4025 set align_mag = CW270FLIP set mag_hardware = HMC5883 set mag_declination = -2120 set magzero_x = 67 set magzero_y = -9 set magzero_z = -19 set mag_calibration_time = 30 set baro_hardware = BMP280 set baro_median_filter = ON set pitot_hardware = NONE set pitot_use_median_filter = ON set pitot_noise_lpf = 0.600 set pitot_scale = 1.000 set receiver_type = SERIAL set mid_rc = 1500 set min_check = 1100 set max_check = 1900 set rssi_channel = 0 set rssi_scale = 100 set rssi_invert = OFF set rc_smoothing = ON set serialrx_provider = SBUS set sbus_inversion = ON set rx_spi_rf_channel_count = 0 set rx_min_usec = 885 set rx_max_usec = 2115 set serialrx_halfduplex = OFF set blackbox_rate_num = 1 set blackbox_rate_denom = 1 set blackbox_device = SPIFLASH set min_throttle = 1150 set max_throttle = 1850 set min_command = 1000 set motor_pwm_rate = 1000 set motor_pwm_protocol = ONESHOT125 set failsafe_delay = 5 set failsafe_recovery_delay = 5 set failsafe_off_delay = 200 set failsafe_throttle = 1000 set failsafe_throttle_low_delay = 100 set failsafe_procedure = RTH set failsafe_stick_threshold = 50 set failsafe_fw_roll_angle = -200 set failsafe_fw_pitch_angle = 100 set failsafe_fw_yaw_rate = -45 set failsafe_min_distance = 0 set failsafe_min_distance_procedure = DROP set align_board_roll = 0 set align_board_pitch = 0 set align_board_yaw = 0 set gimbal_mode = NORMAL set vbat_scale = 1095 set vbat_max_cell_voltage = 424 set vbat_min_cell_voltage = 330 set vbat_warning_cell_voltage = 350 set battery_capacity = 4500 set battery_capacity_warning = 1575 set battery_capacity_critical = 1350 set battery_capacity_unit = MAH set current_meter_scale = 400 set current_meter_offset = 0 set current_meter_type = ADC set yaw_motor_direction = 1 set yaw_jump_prevention_limit = 200 set 3d_deadband_low = 1406 set 3d_deadband_high = 1514 set 3d_neutral = 1460 set servo_center_pulse = 1500 set servo_pwm_rate = 50 set servo_lpf_hz = 20 set flaperon_throw_offset = 200 set tri_unarmed_servo = ON set reboot_character = 82 set imu_dcm_kp = 2500 set imu_dcm_ki = 50 set imu_dcm_kp_mag = 10000 set imu_dcm_ki_mag = 0 set small_angle = 25 set fixed_wing_auto_arm = OFF set disarm_kill_switch = ON set auto_disarm_delay = 5 set gps_provider = UBLOX set gps_sbas_mode = NONE set gps_dyn_model = AIR_1G set gps_auto_config = ON set gps_auto_baud = ON set gps_ublox_use_galileo = OFF set gps_min_sats = 6 set deadband = 5 set yaw_deadband = 5 set pos_hold_deadband = 20 set alt_hold_deadband = 50 set 3d_deadband_throttle = 50 set fw_autotune_overshoot_time = 100 set fw_autotune_undershoot_time = 200 set fw_autotune_threshold = 50 set fw_autotune_ff_to_p_gain = 10 set fw_autotune_ff_to_i_tc = 600 set inav_auto_mag_decl = OFF set inav_gravity_cal_tolerance = 5 set inav_use_gps_velned = ON set inav_reset_altitude = FIRST_ARM set inav_max_surface_altitude = 200 set inav_w_z_surface_p = 3.500 set inav_w_z_surface_v = 6.100 set inav_w_z_baro_p = 0.350 set inav_w_z_gps_p = 0.200 set inav_w_z_gps_v = 0.500 set inav_w_xy_gps_p = 1.000 set inav_w_xy_gps_v = 2.000 set inav_w_z_res_v = 0.500 set inav_w_xy_res_v = 0.500 set inav_w_acc_bias = 0.010 set inav_max_eph_epv = 1000.000 set inav_baro_epv = 100.000 set nav_disarm_on_landing = OFF set nav_use_midthr_for_althold = OFF set nav_extra_arming_safety = ON set nav_user_control_mode = ATTI set nav_position_timeout = 5 set nav_wp_radius = 100 set nav_wp_safe_distance = 10000 set nav_auto_speed = 300 set nav_auto_climb_rate = 500 set nav_manual_speed = 500 set nav_manual_climb_rate = 200 set nav_landing_speed = 200 set nav_land_slowdown_minalt = 500 set nav_land_slowdown_maxalt = 2000 set nav_emerg_landing_speed = 500 set nav_min_rth_distance = 500 set nav_rth_climb_first = ON set nav_rth_climb_ignore_emerg = OFF set nav_rth_tail_first = OFF set nav_rth_allow_landing = ALWAYS set nav_rth_alt_mode = AT_LEAST set nav_rth_abort_threshold = 50000 set nav_rth_altitude = 1000 set nav_mc_bank_angle = 30 set nav_mc_hover_thr = 1447 set nav_mc_auto_disarm_delay = 2000 set nav_fw_cruise_thr = 1400 set nav_fw_min_thr = 1200 set nav_fw_max_thr = 1700 set nav_fw_bank_angle = 20 set nav_fw_climb_angle = 20 set nav_fw_dive_angle = 15 set nav_fw_pitch2thr = 10 set nav_fw_loiter_radius = 5000 set nav_fw_land_dive_angle = 2 set nav_fw_launch_velocity = 300 set nav_fw_launch_accel = 1863 set nav_fw_launch_max_angle = 45 set nav_fw_launch_detect_time = 40 set nav_fw_launch_thr = 1700 set nav_fw_launch_idle_thr = 1000 set nav_fw_launch_motor_delay = 500 set nav_fw_launch_spinup_time = 100 set nav_fw_launch_min_time = 0 set nav_fw_launch_timeout = 5000 set nav_fw_launch_max_altitude = 0 set nav_fw_launch_climb_angle = 18 set telemetry_switch = OFF set telemetry_inversion = OFF set frsky_default_latitude = 0.000 set frsky_default_longitude = 0.000 set frsky_coordinates_format = 0 set frsky_unit = METRIC set frsky_vfas_precision = 0 set frsky_vfas_cell_voltage = OFF set hott_alarm_sound_interval = 5 set smartport_uart_unidir = OFF set smartport_fuel_unit = MAH set ibus_telemetry_type = 0 set ltm_update_rate = NORMAL set osd_video_system = 0 set osd_row_shiftdown = 0 set osd_units = METRIC set osd_stats_energy_unit = MAH set osd_rssi_alarm = 20 set osd_time_alarm = 12 set osd_alt_alarm = 120 set osd_artificial_horizon_reverse_roll = OFF set osd_crosshairs_style = DEFAULT set osd_left_sidebar_scroll = NONE set osd_right_sidebar_scroll = NONE set osd_sidebar_scroll_arrows = OFF set osd_main_voltage_pos = 2135 set osd_main_voltage_decimals = 1 set osd_rssi_pos = 23 set osd_flytimer_pos = 311 set osd_ontime_pos = 279 set osd_flymode_pos = 2412 set osd_throttle_pos = 65 set osd_vtx_channel_pos = 200 set osd_crosshairs_pos = 2048 set osd_artificial_horizon_pos = 200 set osd_current_draw_pos = 2168 set osd_mah_drawn_pos = 2200 set osd_wh_drawn_pos = 268 set osd_bat_remaining_capacity_pos = 2232 set osd_bat_remaining_percent_pos = 225 set osd_craft_name_pos = 84 set osd_gps_speed_pos = 2146 set osd_gps_sats_pos = 2401 set osd_gps_lon_pos = 402 set osd_gps_lat_pos = 384 set osd_home_dir_pos = 2094 set osd_home_dist_pos = 2209 set osd_altitude_pos = 2177 set osd_vario_pos = 183 set osd_vario_num_pos = 248 set osd_pid_roll_pos = 322 set osd_pid_pitch_pos = 354 set osd_pid_yaw_pos = 386 set osd_power_pos = 2264 set osd_air_speed_pos = 163 set osd_ontime_flytime_pos = 2422 set osd_rtc_time_pos = 407 set osd_messages_pos = 2433 set osd_gps_hdop_pos = 320 set osd_main_cell_voltage_pos = 44 set osd_throttle_auto_thr_pos = 2113 set osd_heading_graph_pos = 82 set osd_efficiency_mah_pos = 248 set osd_efficiency_wh_pos = 161 set i2c_speed = 400KHZ set debug_mode = NONE set acc_task_frequency = 500 set attitude_task_frequency = 250 set async_mode = NONE set throttle_tilt_comp_str = 0 set input_filtering_mode = OFF set mode_range_logic_operator = OR set stats = OFF set stats_total_time = 0 set stats_total_dist = 0 set tz_offset = 0 set display_force_sw_blink = OFF

profile profile 1

set mc_p_pitch = 40 set mc_i_pitch = 30 set mc_d_pitch = 23 set mc_p_roll = 40 set mc_i_roll = 30 set mc_d_roll = 23 set mc_p_yaw = 85 set mc_i_yaw = 45 set mc_d_yaw = 0 set mc_p_level = 20 set mc_i_level = 15 set mc_d_level = 75 set fw_p_pitch = 5 set fw_i_pitch = 7 set fw_ff_pitch = 50 set fw_p_roll = 5 set fw_i_roll = 7 set fw_ff_roll = 50 set fw_p_yaw = 6 set fw_i_yaw = 10 set fw_ff_yaw = 60 set fw_p_level = 20 set fw_i_level = 5 set fw_d_level = 75 set max_angle_inclination_rll = 300 set max_angle_inclination_pit = 300 set dterm_lpf_hz = 40 set yaw_lpf_hz = 30 set dterm_setpoint_weight = 0.000 set fw_iterm_throw_limit = 165 set fw_reference_airspeed = 1000.000 set fw_turn_assist_yaw_gain = 1.000 set dterm_notch_hz = 0 set dterm_notch_cutoff = 1 set pidsum_limit = 500 set yaw_p_limit = 300 set iterm_ignore_threshold = 200 set yaw_iterm_ignore_threshold = 50 set rate_accel_limit_roll_pitch = 0 set rate_accel_limit_yaw = 10000 set heading_hold_rate_limit = 90 set nav_mc_pos_z_p = 98 set nav_mc_pos_z_i = 0 set nav_mc_pos_z_d = 0 set nav_mc_vel_z_p = 100 set nav_mc_vel_z_i = 50 set nav_mc_vel_z_d = 10 set nav_mc_pos_xy_p = 65 set nav_mc_pos_xy_i = 120 set nav_mc_pos_xy_d = 10 set nav_mc_vel_xy_p = 150 set nav_mc_vel_xy_i = 15 set nav_mc_vel_xy_d = 100 set nav_mc_heading_p = 60 set nav_fw_pos_z_p = 50 set nav_fw_pos_z_i = 0 set nav_fw_pos_z_d = 0 set nav_fw_pos_xy_p = 75 set nav_fw_pos_xy_i = 5 set nav_fw_pos_xy_d = 8 set nav_fw_heading_p = 60 set thr_mid = 50 set thr_expo = 0 set tpa_rate = 0 set tpa_breakpoint = 1500 set rc_expo = 70 set rc_yaw_expo = 20 set roll_rate = 20 set pitch_rate = 20 set yaw_rate = 20 set manual_rc_expo = 70 set manual_rc_yaw_expo = 20 set manual_roll_rate = 100 set manual_pitch_rate = 100 set manual_yaw_rate = 100 blackbox_log_2018-04-11_162553.TXT

[matlj]

I've had the exact same issue on my 330 after upgrading to 1.9.0, without changing any setting, and so did some people on rc-groups (violent stop and bounces when in poshold mode). Setting nav_mc_vel_xy_p to 60 fixed the issue for me.

[danylam]

Thanks because it fixed for me as well

[matlj]

Cool!

This is really weird, because the same quad on 1.8.0 with default values for nav_mc_vel stopped very smoothly in POSHOLD mode. I found a dump from my quad on 1.8.0, and the value for p was even higher: set nav_mc_vel_xy_p = 180

[alexeystn]

My 5" quad also oscillates severely in Poshold and RTH with 1.9 firmware and default 5"GPS preset. Meanwhile 1.8 is almost perfect. Here is what I found in code: https://github.com/iNavFlight/inav/blob/1.9.0/src/main/flight/pid.c#L129 https://github.com/iNavFlight/inav/blob/1.8/src/main/flight/pid.c#L129 There is different scale for NAV_VEL_XY_P in versions 1.8 and 1.9 (×20 and ×100), so these values cannot be simply transfered from 1.8 to 1.9 with "diff" command. I suppose, this is the reason.

[digitalentity]

@alexeystn oops, good point. I've amended the release notes:

Internal scaling for VEL_XY PID setting has changed. It is advised to use default setting (40) as a starting point. Old setting from 1.8 or earlier will probably cause severe oscillation.

[digitalentity]

@DzikuVx @fiam we should probably change presets to reflect the change

[DzikuVx]

I will take care about it

pt., 13 kwi 2018 o 13:41 użytkownik Konstantin Sharlaimov < notifications@github.com> napisał:

@DzikuVx https://github.com/DzikuVx @fiam https://github.com/fiam we should probably change presets to reflect the change

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[svhirst]

I have found I had to put the D to the max 255 to control the issue on 1.9.3, admittedly I'm using an old quad.

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