@tabascoz wrote:
Hello,
Yesterday i did my first flight with 3.4rc2. I took the opportunity also do run a full autotune session again and the values found seems more reasonable than with rc1:
Parameter 3.4rc2 3.4rc1
atc_accel_p_max 57413 86065
atc_accel_r_max 66472 90537
atc_accel_y_max 15200 6778
atc_ang_pit_p 11.22 18
atc_ang_rll_p 11.84 18
atc_ang_yaw_p 6 3.89
atc_rat_pit_p 0.63 0.23
atc_rat_pit_i 0.63 0.23
atc_rat_pit_d 0.0308 0.01999
atc_rat_rll_p 0.4587 0.222
atc_rat_rll_i 0.4587 0.222
atc_rat_rll_d 0.02173 0.0152
atc_rat_yaw_filt 1.792 1.073
atc_rat_yaw_i 0.1222 0.1240
atc_rat_yaw_p 1.222 1.240
atc_slew_yaw 6000 1000It looks that atc_rat_yaw_p is very high, don't know why or if it is normal. atc_ang_pit_p and atc_ang_rll_p have decreased from 18 to around 11 which is between standard boundaries.
Two issues that I've found:
1st. After arming px4, the escs are arming randomly, and it could take up to one minute to have all them ready to go. I'm running blheli 14.6 and haven't touched neither my esc nor anything else related to HW since upgrading from rc1.
My mot_pwm_type is = 1 - I have tried to set it to 2 but with that I'm unable to calibrate. Tried that to see if it could fix or if it would work, but it didn't.
2nd: I have had a hard time with altitude controller. After log analysis I think it could have been caused by some noise on my rangefinder and my settings for EK2_RNG_USE_HGT which was 50%. I will get it back to the default of -1 until I'm sure that the rangefinder is 100 reliable.
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