LibrePilot Forum

Users => Vehicles - Fixed Wing => Topic started by: SirHaugen on May 20, 2016, 07:59:25 pm

Title: CC3D stabilisation on GoDiscovery works slow?
Post by: SirHaugen on May 20, 2016, 07:59:25 pm

Hi guys!
I have a GoDiscovery from HK with a CC3D Mini Atom installed.
Followed the painless360 guide, and it works and flies pretty good.

But.. what do I change in Librepilot to get the Attitude (stabilized) work "quicker" ? It does the job when balancing, but I think it corrects a bit slow if you understand..

Any suggestions?

Title: Re: CC3D stabilisation on GoDiscovery works slow?
Post by: Mateusz on May 20, 2016, 08:24:11 pm

Higher PIDs ? PIDs tuning ? ;)

Title: Re: CC3D stabilisation on GoDiscovery works slow?
Post by: SirHaugen on May 20, 2016, 11:57:07 pm

So, higher Roll values then?

Title: Re: CC3D stabilisation on GoDiscovery works slow?
Post by: Mateusz on May 21, 2016, 06:56:17 am

I think PIDs depend on how powerful is your quad. It's a parameter that guides stabilization how fast to reach desired frame level, the higher the parameter the faster it stabilizes (reaching known position), but if it's too high for less powerful quad, then it overshoots and oscillates. At least that's how I understand it.

This is good introduction https://www.youtube.com/watch?v=LtocGBngSrA
Here how to tune with EasyTune https://www.youtube.com/watch?v=6-CBHgDUF8A
And of course Wiki https://librepilot.atlassian.net/wiki/display/LPDOC/TxPID

Hope that helps,

Title: Re: CC3D stabilisation on GoDiscovery works slow?
Post by: SirHaugen on May 21, 2016, 08:14:04 pm

but this is a flying wing? :P

Title: Re: CC3D stabilisation on GoDiscovery works slow?
Post by: f5soh on May 21, 2016, 09:39:26 pm

Same applies to Flying Wing.

First: Be sure you set the min/max correctly for servo, full movement needed.

Try flying rate if response is good while shaking with sticks.
Modify the P term in rate loop if needed.

At end you can increase the "P" term in Attitude stabilization (outer loop), default is 2.5, try 3 or 3.5

In all cases you should avoid oscillations.