LibrePilot Forum

Users => Vehicles - MultiRotors => Topic started by: razr on January 31, 2016, 06:49:32 pm

Title: Overly sensitive yaw servo on tricopter
Post by: razr on January 31, 2016, 06:49:32 pm

Hello

So after been building and flying with a quadcopter quite a bit last year I went and built a tricopter running with a CC3D

After completing it, it flew, but the yaw which is overly sensitive which causes the tricopter to wobble ridiculously.

So how do I tune it so the wobbles stops?

Thanks in advance!

Title: Re: Overly sensitive yaw servo on tricopter
Post by: f5soh on January 31, 2016, 06:56:39 pm

Is really Yaw or Roll ?

Take a look at this post:
https://forum.librepilot.org/index.php?topic=686.0

Title: Re: Overly sensitive yaw servo on tricopter
Post by: razr on January 31, 2016, 09:54:52 pm

It's the yaw servo.
For instance, when I arm the copter and then lift it up with my hand, the yaw rotor starts "shaking" if you know what I mean.
I tried to reduce the yaw mixer, it did sort of help but it also made the steering sluggish too

Title: Re: Overly sensitive yaw servo on tricopter
Post by: f5soh on January 31, 2016, 10:45:25 pm

Try adjusting the PID values for Yaw axis.

This appears only when on ground (soft landing gear) or while flying ?

Title: Re: Overly sensitive yaw servo on tricopter
Post by: razr on February 01, 2016, 08:24:39 am

It's happening whenever the copter is moving, whether by flying or while handled.
Which of the PID values should I change? There are quite a lot of different yaw values to choose from

Title: Re: Overly sensitive yaw servo on tricopter
Post by: f5soh on February 01, 2016, 10:26:16 am

Stabilization tab > Advanced > Rate (inner loop) > PID Yaw
(https://forum.librepilot.org/index.php?action=dlattach;topic=744.0;attach=1395)
Search for some youtube video if you know nothing about PID

Title: Re: Overly sensitive yaw servo on tricopter
Post by: razr on February 01, 2016, 08:01:05 pm

Thanks mate

I'll get going on learning PID and get it flying