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iNavFlight / inav

INAV: Navigation-enabled flight control software
https://inavflight.github.io
GNU General Public License v3.0
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POSHOLD oscilando no ar / POSHOLD oscillating in the air #6125

Closed renanseibert closed 3 years ago

renanseibert commented 4 years ago

Hello,

My Quad (description below) flies well in ANGLE mode, flies reasonably well in ALTHOLD (with small variations of up to 1 meter in altitude, acceptable), but in POSHOLD mode it oscillates at low frequency. The compass is calibrated and correctly points home direction. I tested the RETURN TO HOME function and it works perfectly - except for oscillations when the quad stops in the air. The oscillation was quite accentuated, but after increasing the hover throttle a little, the GPS stabilized better, but it still oscillates at an angle of approximately 15 degrees, swinging from side to side. Does anyone have any idea what it could be?

Quad: (F450, Omnibus F4 V3.1, GPS Ublox M8N + compass HMC5883L)

_Olá,

Meu Quad (descrição abaixo) voa bem em modo ANGLE, voa razoavelmente bem em ALTHOLD (com pequenas variações de até 1 metro de altitude, aceitáveis), porém em modo POSHOLD ele oscila em baixa frequência. O compass está calibrado, tanto que aponta corretamente a direção de casa. Testei a função RETURN TO HOME e funciona perfeitamente - exceto as oscilções quando o quad para no ar. A oscilção era bem acentuada, porém depois de aumentar um pouco o hover throttle o GPS estabilizou melhor, porém ainda oscila a um ângulo de aproximadamente 15 graus, balançando de um lado para o outro. Alguém tem ideia do que pode ser?_

Quad: (F450, Omnibus F4 V3.1, GPS Ublox M8N + compass HMC5883L)

CLI Diff:

diff

version

INAV/OMNIBUSF4V3 2.5.2 Aug 4 2020 / 10:05:34 (faaedc7cb)

GCC-9.2.1 20191025 (release) [ARM/arm-9-branch revision 277599]

start the command batch

batch start

resources

mixer

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

servo mix

servo

logic

gvar

gf

feature

feature -AIRMODE feature MOTOR_STOP feature GPS feature PWM_OUTPUT_ENABLE

beeper

map

serial

serial 0 2 115200 115200 0 115200 serial 5 64 115200 115200 0 115200

led

color

mode_color

aux

aux 0 0 1 1800 2100 aux 1 1 0 900 1950 aux 2 3 0 1050 1475 aux 3 11 0 1475 1900 aux 4 10 0 1975 2100

adjrange

rxrange

temp_sensor

wp

wp 0 invalid

osd_layout

osd_layout 0 0 25 2 H osd_layout 0 1 24 1 V osd_layout 0 5 23 8 V osd_layout 0 6 23 9 V osd_layout 0 7 13 13 V osd_layout 0 8 9 1 H osd_layout 0 9 1 4 V osd_layout 0 13 1 9 V osd_layout 0 14 1 8 V osd_layout 0 15 1 2 V osd_layout 0 22 14 12 V osd_layout 0 23 1 10 V osd_layout 0 28 23 11 H osd_layout 0 30 1 14 V osd_layout 0 32 24 2 V osd_layout 0 96 1 1 V osd_layout 0 99 27 1 H

master

set looptime = 500 set gyro_hardware_lpf = 256HZ set gyro_lpf_type = PT1 set gyro_stage2_lowpass_hz = 120 set gyro_stage2_lowpass_type = PT1 set dynamic_gyro_notch_enabled = ON set dynamic_gyro_notch_q = 150 set dynamic_gyro_notch_min_hz = 60 set acc_hardware = MPU6000 set acczero_x = 124 set acczero_y = 7 set acczero_z = -259 set accgain_x = 4089 set accgain_y = 4076 set accgain_z = 3961 set align_mag = CW270FLIP set mag_hardware = HMC5883 set magzero_x = 128 set magzero_y = 81 set magzero_z = 52 set baro_hardware = BMP280 set pitot_hardware = NONE set receiver_type = SERIAL set min_check = 1050 set serialrx_provider = IBUS set throttle_idle = 12.000 set failsafe_procedure = RTH set model_preview_type = 3 set applied_defaults = 1 set gps_sbas_mode = AUTO set mc_airmode_type = THROTTLE_THRESHOLD set nav_extra_arming_safety = ON set nav_rth_altitude = 1000 set nav_mc_hover_thr = 1575 set i2c_speed = 200KHZ

profile

profile 1

set mc_p_pitch = 30 set mc_i_pitch = 10 set mc_d_pitch = 20 set mc_p_roll = 30 set mc_i_roll = 10 set mc_d_roll = 20 set mc_p_yaw = 60 set mc_i_yaw = 25 set dterm_lpf_hz = 60 set dterm_lpf_type = PT1 set dterm_lpf2_type = PT1 set use_dterm_fir_filter = OFF set yaw_lpf_hz = 30 set dterm_setpoint_weight = 0.300 set heading_hold_rate_limit = 30 set mc_iterm_relax = RPY set d_boost_factor = 1.500 set d_boost_max_at_acceleration = 5000.000 set d_boost_gyro_delta_lpf_hz = 50 set antigravity_gain = 2.000 set antigravity_accelerator = 5.000 set rc_yaw_expo = 70 set roll_rate = 70 set pitch_rate = 70 set yaw_rate = 60

battery_profile

battery_profile 1

end the command batch

batch end

issue-label-bot[bot] commented 4 years ago

Issue Label Bot is not confident enough to auto-label this issue. See dashboard for more details.

ZlatanZ commented 4 years ago

Hi @renanseibert, is it oscillating also vertical or just horizontal? What is the frequency? Do you have some video? Do you have some Flight blackbox log?

BR, Zlatan

renanseibert commented 4 years ago

Hi, @ZlatanZ Oscillation occurs when the quad is stopped in the air. It is swaying to one side and the other on the axis, exactly the same as when the PID value of the PID is low (however I believe that the PID is good, because in ANGLE the quad flies well). I'll try to make a video later. Thank you

renanseibert commented 4 years ago

@ZlatanZ

I made a video in POSHOLD mode. Link: https://youtu.be/J0-NO56Inec After the video I increased the hover throttle and stabilized a little. Could this be the problem? Thank you

ZlatanZ commented 4 years ago

Hi @renanseibert, Just from watching the video I would assume that your mc_i_roll and mc_i_pitch are to high, maybe lowering them towards 1 helps. It would be much easier when you could provide blackbox log.

This could also help:

Do every change carefully with small steps to avoid crash!!!

renanseibert commented 4 years ago

Hi, Today I managed to solve the problem of stabilizing in POSHOLD mode. It was necessary to correct the navigation PID value. The D gain was too high and therefore the motors err very aggressively when correcting the xy position. POSHOLD now works perfectly. Thank you very much, @ZlatanZ , without your help it would not be possible to solve the problem (Sorry for my english ...)

pDR8iLQ4go commented 2 years ago

@renanseibert: Do you remember the values of your parameters? You wrote: "The D gain was too high...". Are you talking about parameter _nav_mc_vel_xyd?