Trouble tuning Bolt 1.1 + F450 #150
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johnnwallace
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Hi! I have a couple of comments:
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I managed to get an answer of the user of that forum post that you referred to! These were the values he ended up with down here. Mind that he said that he was only able to tune the innerloop properly (pitch roll yaw), but had still problems with the outer loop (Velocities positions) including the altitude hold. So just be aware of that! Here are the innerloop gains:
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I am working on a drone powered by the Bolt 1.1 on an F450 frame. Has anyone had experience using the Bolt on such a frame? It would be awesome if I had some rate PID gains to jump off with. We are using 1400 KV motors on a 4S. I don't expect anyone to have the exact same configuration, but I figured using the same gains as another F450 drone would be a good starting point.
If anyone has any other advice on tuning, it would be greatly appreciated. Our initial tries getting the drone off the ground resulted in many examples of the drone quickly flipping on its pitch axis, like this one. Following the advice on slide 18 of this guide, I halved the roll gains from the CF 2.1. That resulted in this test, where we get a very unstable hover. I haven't been able to reproduce similar behavior when using the same gains, instead getting the same flips over the pitch axis as before.
Any advice would be awesome!
edit 1: I have seen this post, but no gains
edit 2: We actually got the drone to more consistently get up in the air by dramatically decreasing the thrustBase parameter (down to 15000), which is well below the thrust needed to hover (video). We tried tuning some more, but we found that gains too low would not correct for a pitch over that occurs while trying to take off (still looking into why this happens), while high enough gains to take off would lead to a very jittery flight.
A potential option would be to decrease gains once takeoff is detected, but ideally, we would try to figure out why the early pitch-over occurs. It doesn't seem to be a motor issue, since we tried swapping the motors and the same pitch-over occurs, and we already calibrated the ESCs. It's possible that some of the ESCs have trouble ramping up quickly for take-off also, I guess.
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