LibrePilot Forum
Users => Vehicles - Fixed Wing => Topic started by: anypis on August 17, 2018, 11:01:40 am
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Dear all,
I finalized building a flyingwing. I want to know, anyone flew this with librepilot revo before? If yes, can you share your experience and pids?
I activated telemetry, added power module (working great), added gps, added Ibus receiver, added OSD. I also want to add pitot tube but all ports are filled :) Can I connect to servo pins?
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Use INS13 and enable airspeedsettings.airspeedsensortype set it to groundspeedbasedwindestimation (for use without pitot)
Everything calibrated well and green health.
I think best way to tune PIDs in a fixed wing is to:
- fly manually to trim it out
- move tx trims back to center and adjust linkages instead
- repeat till it flies with trims in center
- always work toward trims in center by readjusting linkages if you must trim it in flight
- tune Rate PIDs in Rate mode to avoid oscillation at high speed
- tune Attitude PIDs in Attitude mode, mainly for decent response
- GPS modes are basically the GPS controlling Attitude mode
Play with FixedWingPathFollowerSettings.
For waypoint flight, all waypoints should have a negative error destination to ignore all the high speed or low speed errors.
Uncentered trims are a command to roll/loop slowly when you are in Rate mode.
Beware of a windup problem when switching in air from Manual to Attitude. Work around is throttle quick to zero, switch, throttle back up.
I fly fixed wing GPS modes both with and without a pitot tube. Pitot connected to servo pins. Search the wiki for pitot I guess.
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Thank you TheOtherCliff for detailed and clear explanation!
I will try and share my results.