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yawing [2016/11/27 10:25] sirdomsen |
yawing [2016/11/27 11:31] (current) silverxxx |
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==== My Quad yaws and or banks near full throttle! Is that normal? What to do against that? ==== | ==== My Quad yaws and or banks near full throttle! Is that normal? What to do against that? ==== | ||
- | First of all, lets explain why Silverware | + | First of all, lets explain why Silverware |
BUT if not, you get the mentioned problems! | BUT if not, you get the mentioned problems! | ||
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<font inherit/ | <font inherit/ | ||
- | How to solve that? Here is a text, freely copied from [[https:// | + | **My quad yaws unexpected at full throttle, one corner/side dips at full throttle** |
- | | | + | It can be caused by off center CG , or unmatched motors, or quad not built straight. All motors have to be vertical and parallel to each other!\\ |
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- | Quote: | + | |
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- | |Originally Posted by **Flaykz** [[https:// | + | |
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- | Hi, \\ | + | |
- | \\ | + | |
- | I have the h8 mini blueboard with FPV (27gr). \\ | + | |
- | \\ | + | |
- | At full throttle (more than 85%), my quad turn on yaw axis alone. \\ | + | |
- | \\ | + | |
- | Do you know if bad PID or bad balance can do that (only when full throttle) ? \\ | + | |
- | \\ | + | |
- | Thank you. | + | |
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- | It can be caused by off center CG , or unmatched motors, or quad not straight. All motors have to be absolutely | + | |
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The h8 comes with many different motors made by different companies, and sometimes, the ccw and cw motors are a bit different, and can cause this.\\ | The h8 comes with many different motors made by different companies, and sometimes, the ccw and cw motors are a bit different, and can cause this.\\ | ||
\\ | \\ | ||
- | In config.h, there is the option #define MIX_LOWER_THROTTLE , which will lower throttle to maintain control. The downside you have less max throttle. | + | In config.h, there is the option |
You can add these defines in config.h around line 141:\\ | You can add these defines in config.h around line 141:\\ | ||
- | #define MIX_LOWER_THROTTLE\\ | + | //#define MIX_LOWER_THROTTLE// |
- | #define MIX_THROTTLE_REDUCTION_PERCENT 30\\ | + | |
- | \\ | + | Could also add the line below, to reduce the throttle loss//:\\ |
+ | #define MIX_THROTTLE_REDUCTION_PERCENT 30// \\ | ||
Another way would be to change the pid limits to make yaw have higher priority. In file pid.c: | Another way would be to change the pid limits to make yaw have higher priority. In file pid.c: | ||
- | Quote: | + | < |
+ | //output limit | ||
+ | const float outlimit[PIDNUMBER] = { 0.8 , 0.8 , 0.4 };// | ||
- | |mit \\ | + | //limit of integral term (abs) |
- | const float outlimit[PIDNUMBER] = { 0.8 , 0.8 , 0.4 }; \\ | + | const float integrallimit[PIDNUMBER] = { 0.8 , 0.8 , 0.4 }; // |
- | \\ | + | </ |
- | // limit of integral term (abs) \\ | + | |
- | | + | |
- | The limit for roll and pitch is 0.8, and for yaw 0.4 in this case ( defaults)\\ | + | The default |
- | \\ | + | |
- | You could increase | + | The yaw pid limit could be increased from 0.4 in both places or the other 2 axis could be reduced, for example. |
+ | |||
+ | Just play with these values a bit and see what happens. Sometimes even reducing yaw limit (or one of the others) can help - a quad's behavior is not always logical… | ||
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