NAZA Stabilization

[motionlenz]

Hello,
I am working to get my copter as stable as possible. The link to a video shows how it flies and I am working to fix what seems to be the yaw axis movement.

Any suggestions would be greatly appreciated!!!

Thank you

https://vimeo.com/89574057


Setup-

DJI F550

Running 14.8v 4500mAH 4S 30C Battery

My gains are:
170-pitch
170-roll
150-yaw
140-vertical
170-att pitch
170-att roll

DJI NAZA M

NAZA Version 2 GPS

Zenmuse H3-2D Gimbal

DJI motors- DJI 2212 Brushless Motors,KV: 920 rpm/V

Props- DJI 1038 10" 3.8" pitch

I am not sure on my AUW

 

[mangoats]

In the first part of your video, your descending.......... this is the hardest thing for a flight controller to maintain in stability. If you descend straight down you'll see small wobbles from the controller working very hard.. The best way to descend is at a slight angle forward, that way the prop wash is a little behind the vehicle.

Once you come to a hover you have a slight nod to the left and right. I believe that this can be tuned out, going to take some testing with different gains. You should only change one gain at a time. Start with yaw..........

This is just where I would start, others will chime in and help out.

Another thing is, you have a light vehicle and this might be outside of the range for better stability. Mass equals stability.

Your also running the larger props for lift, did you try they 8 inch props to see if it helps? The 10 inch props could cause the vehicle to be over sensitive if it's to light. Just a thought, never hurts to try.

Thanks,
Chris