飛: 20140730 金山調整 skyeye 4顆電池PID

上次在宜蘭, skyeye杯嘞4顆2200mah的電池後,auto完全亂飛還猛掉高度.....

google過一下, 應該是把 roll to servo, pitch to servo的Pgain再加一些就好了, 如果不行還有另外的TESC 什麼 total energy control, 可以調...
這次除了原本的4顆電池,加了顆110g的石頭替代camera
這裏是原本的PID, 我的P gian跟RC group上的相比都低了些...
人家的pitch2srv_P都到0.8

NAV_CONTROLLER,1
NAVL1_DAMPING,0.76
NAVL1_PERIOD,13
PTCH2SRV_D,0.03381
PTCH2SRV_I,0.03381
PTCH2SRV_IMAX,2000
PTCH2SRV_P,0.551
PTCH2SRV_RLL,1
PTCH2SRV_RMAX_DN,60
PTCH2SRV_RMAX_UP,60
PTCH2SRV_TCONST,0.5
RLL2SRV_D,0.0363633
RLL2SRV_I,0.0303633
RLL2SRV_IMAX,2000
RLL2SRV_P,0.603
RLL2SRV_RMAX,60
RLL2SRV_TCONST,0.5

起飛前就把P gain 都加大~0.57.....情況很快就改善了....(期時後面的圖看出這個數字就很不錯了)

這時讓飛機在RTL繞圈,直接調參數再切auto....

第一次就很好了....