Tune down solo attitude rate controller #14952
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This removes visible oscillations of the vehicle
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Quick pass over the multicopter position controller while you're at it?
Could we also do something to only send differential pressure when it's appropriate?
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dagar
approved these changes
May 23, 2020
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A very similar problem happens with a Typhoon h480 hexacopter as shown in the following video clip.
Tried to fix the issue by referring to the following link and lowering values of MC_PITCHRATE_P and MC_ROLLRATE_P in 6011_typhoon_h480 located in ROMFS/px4fmu_common/init.d-posix/airframes, but did not succeed yet. |
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@jungx148 That seems like a separate issue, please create a new issue for it |
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Okay thanks for a quick response. I opened a new topic. https://discuss.px4.io/t/oscillations-occurs-during-hovering-typhoon-h480-hexacopter/19584 |
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Describe problem solved by this pull request
The solo model was showing visible oscillations while flying.
Describe your solution
Tuning down the rate controller removes the oscillations.
Test data / coverage
Before PR:
Log: https://review.px4.io/plot_app?log=4bd411a0-818e-4cdc-96d7-27f796088eb3
After PR:
Log: https://review.px4.io/plot_app?log=9aafa587-8c42-4d85-bddb-8a3768d7171e
Additional Context
Fixes #11405