Hi folks,
I wonder if I could bounce a few ideas of everyone here. I've built a quadcopter, and I'm having a few issues with tuning the gains. I've set-up approx 15 quadcopters so far using Naza flight controllers, with no issues at all. This one is giving me some greif though.
The quad I have built is nice and rigid, and is around 900mm span. It uses Axi 2820/18 motors, and Gemfan 14x4.5 wooden props. Speed controllers are DJI 30A opto ones. The flight battery is a 4s, 9000Mah pack (actually two packs in parallel). The airframe is all carbon fibre, so fairly light, but very strong indeed. The flight controller is a Naza v1 on the latest firmware.
The problem I am having, is setting the basic gains. For some reason, I cannot get them dialled in well enough to eliminate any wobble. I have the basic pitch and roll (and yaw) gains set on a series of switches on my TX, so that I can increment the gains in 2% steps (or decrement!). I've tried over about 5 flights now to get them dialled in, but I can't seem to get rid of the wobbles. With excessively low gains, I get hard to control slow oscillations. With very high gains, I get fast wobbles. In between, in flat calm weather, I can get it sort of stable, but the moment a small gust of wind comes (or I try doing anything other than a hover) the oscillations return. My knowledge of tuning smaller craft suggests that the wobbles are fast enough to lead me to reducing the gains. This then introduces the low frequency wobbles, and sluggish control response.
Has anyone got any ideas? I'm half wondering if the flight controller is damaged (it is a V1 unit bought about 18 months ago, but was working fine on the TBS discovery it was removed from).
I'm about to resort to installing a KK2.1 board to try out, to see if it is an airframe (or motor/esc) issue, or a tuning issue.
Cheers
Andy
I wonder if I could bounce a few ideas of everyone here. I've built a quadcopter, and I'm having a few issues with tuning the gains. I've set-up approx 15 quadcopters so far using Naza flight controllers, with no issues at all. This one is giving me some greif though.
The quad I have built is nice and rigid, and is around 900mm span. It uses Axi 2820/18 motors, and Gemfan 14x4.5 wooden props. Speed controllers are DJI 30A opto ones. The flight battery is a 4s, 9000Mah pack (actually two packs in parallel). The airframe is all carbon fibre, so fairly light, but very strong indeed. The flight controller is a Naza v1 on the latest firmware.
The problem I am having, is setting the basic gains. For some reason, I cannot get them dialled in well enough to eliminate any wobble. I have the basic pitch and roll (and yaw) gains set on a series of switches on my TX, so that I can increment the gains in 2% steps (or decrement!). I've tried over about 5 flights now to get them dialled in, but I can't seem to get rid of the wobbles. With excessively low gains, I get hard to control slow oscillations. With very high gains, I get fast wobbles. In between, in flat calm weather, I can get it sort of stable, but the moment a small gust of wind comes (or I try doing anything other than a hover) the oscillations return. My knowledge of tuning smaller craft suggests that the wobbles are fast enough to lead me to reducing the gains. This then introduces the low frequency wobbles, and sluggish control response.
Has anyone got any ideas? I'm half wondering if the flight controller is damaged (it is a V1 unit bought about 18 months ago, but was working fine on the TBS discovery it was removed from).
I'm about to resort to installing a KK2.1 board to try out, to see if it is an airframe (or motor/esc) issue, or a tuning issue.
Cheers
Andy