After autotune, quad uncontrollably rocking on pitch axis in loiter

@metalpiotr wrote:

Hi,

I performed autotune for the first time in my 450 quad. I flew it around in stabilize mode and it appeared to fly much smoother than the default PIDs, so I accepted the tune. However, I found that when landing in Loiter mode, the quad started to rock uncontrollably on the pitch axis. Switching back to stabilize would bring things back to normal. I just assumed it must have been fighting the wind and thought nothing of it. However, the next time I flew it there was no wind and the same behavior occurred.

My assumption was that some PID settings for the Pitch axis must have been too aggressive and it was trying to over correct... however when I did a diff of my parameters before hand, the PID values were actually much lower... so I'm a little bit confused.

I might try to repeat the autotune, but I am wondering if anyone has suggestions on what I could try tweaking manually, as aside from the behavior I'm fairly happy with how it flies. I attached my parameters, in case someone can easily spot something not looking right.

RATE_PIT_D,0.002
RATE_PIT_I,0.09000001
RATE_PIT_IMAX,1000
RATE_PIT_P,0.09000001
RATE_RLL_D,0.002
RATE_RLL_I,0.1
RATE_RLL_IMAX,1000
RATE_RLL_P,0.1
RATE_YAW_D,0
RATE_YAW_I,0.02
RATE_YAW_IMAX,1000
RATE_YAW_P,0.2

STB_PIT_P,3.75
STB_RLL_P,3.75
STB_YAW_P,4.5

Thanks

Posts: 5

Participants: 2

Read full topic