@candanga wrote:
Greetings,
I tried to stay away from 3.4.x for a while (had no time to troubleshoot) due to some uncommanded yaw/roll issues I started to have, which were not present on 3.3.3. Reading over the changelogs, I knew it was inevitable to upgrade.
New EFK innovations are present from 3.4.x, so I know the new algorithms are detecting something wrong (or some default parameters are not getting along with my build).
I take off in STAB, and it hovers fine for some seconds. Then I can notice it’s auto-yawing, like trying to calibrate something (small yaw corrections to either side). Some seconds later it develops a Roll tendency, like if he has already trimmed to compensate for a "stable horizon", and drifts to a side (I need to keep the stick on the opposite side to compensate)
I land. Take off, tendency remains until I reboot the board.
- Tried Old PIDs from 3.3.3 Auto-tune and Defaults.
- Craft has same 3.3.3 Compass-mot values
- Same happens with both Compasses enabled (normally I only use the external)
- Hover Learn Disabled
Haven’t had any time to auto-tune under 3.4.4, but I’m suspecting on the following new parameters:
ATC_RAT_RLL_D,0.007120772
ATC_RAT_RLL_FILT,20
ATC_RAT_RLL_I,0.1377248
ATC_RAT_RLL_IMAX,0.444
ATC_RAT_RLL_P,0.1377248
ATC_RAT_YAW_D,0
ATC_RAT_YAW_FILT,5
ATC_RAT_YAW_I,0.018
ATC_RAT_YAW_IMAX,0.222
ATC_RAT_YAW_P,0.18
XJ470 (X frame or V ? Behaves the same either ways)
3DR Pixhawk board w/external M8N GPS/Compass Combo
FC mounted on Kiosho gel (check vibrations and 3.3.3 vib, all within limits)Any help from the experts is deeply appreciated. Thanks for all your hard work and effort with this FW!
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