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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 often has "problems" near full throttle. Silverware uses almost all power available from the motors on full throttle (wirh stock settings), there is no spare throttle left for corrections with stock settings - but if all your motors and props are perfect, you are still able to control the quad and have no issues.+First of all, lets explain why Silverware sometimes has "problems" near full throttle. Silverware uses almost all power available from the motors on full throttle (with stock settings), there is no spare throttle left for corrections with stock settings if there is any unbalance - but if all your motors and props are perfect, you should be able to control the quad and have no issues.
  
 BUT if not, you get the mentioned problems! BUT if not, you get the mentioned problems!
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 <font inherit/inherit;;#FF0000;;inherit>Before doing the following steps, please make sure your props look good (replace if possible for troubleshooting) and that there is no dust/dirt/hair around the motor shaft!</font> <font inherit/inherit;;#FF0000;;inherit>Before doing the following steps, please make sure your props look good (replace if possible for troubleshooting) and that there is no dust/dirt/hair around the motor shaft!</font>
  
-How to solve that? Here is a text, freely copied from [[https://www.rcgroups.com/forums/showpost.php?p=36267707&postcount=6534|a RCGroups Post by Silverxxx]]+**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!\\
- +
-| +
- +
-Quote: +
- +
-|Originally Posted by **Flaykz** [[https://www.rcgroups.com/forums/showthread.php?p=36266568#post36266568|{{https://static.rcgroups.net/forums/images/beta/buttons3/viewpost.gif?nolink&}}]] +
- +
-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. +
- +
-| +
- +
-It can be caused by off center CG , or unmatched motors, or quad not straight. All motors have to be absolutely vertical and parallel to each other!\\+
 \\ \\
 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 //#define MIX_LOWER_THROTTLE// , which will lower throttle to maintain control. The downside you have less max throttle. Usually enabling this solves most issues at max throttle.
  
 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:+<code> 
 +//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 }; // 
-    \\ +</code>
-   // limit of integral term (abs) \\ +
-   const float integrallimit[PIDNUMBER] = { 0.8 , 0.8 , 0.4 };|+
  
-   The limit for roll and pitch is 0.8, and for yaw 0.4 in this case ( defaults)\\ +The default limit for roll and pitch is 0.8, and for yaw 0.4 in this case. 
-\\ + 
-You could increase 0.4 in both places or reduce the other 2 axes limit, for example. Sadly, this won't fix the unbalance, it will just transfer it to another axis, or make it less noticeable.+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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- 
-\\ 
  
  
yawing.1480238750.txt.gz · Last modified: 2016/11/27 10:25 by sirdomsen

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