Fun, Learning, Friendship and Mutual Respect
START  HERE


Unregistered
Go Back   HeliFreak > R/C Electronics Support > Flybarless Helicopter Systems


Flybarless Helicopter Systems CSM Cyclock, Helitronix Multi-mixer, Spartan AP2000i, Firmtronix Digimix-3, Gyrobot, SK360and AC3X


Reply
 
Thread Tools Display Modes
Old 05-02-2012, 10:16 AM   #1
Dowquest
Registered Users
 

Join Date: Sep 2009
Location: Alpine, CA
Default Tuning Fbl systems with PID gain

]Greetings,
I am working through the tuning of a Tarot ZYX fbl system, and am flying well, but want to fine tune to get the locked in setup. Right now there is a bit of drift, and it feels tight, but wanders. Is there a correct process of adjusting gains to achieve this?

I am going out this morning and starting with total roll gain, then total pitch, then P gain, then moving to I then D. Roll first, then pitch. Adding gain until I get a wag, then backing off. Would appreciate any input, I probably will just get started today, and finish tomorrow.
Thanks

Last edited by Dowquest; 05-02-2012 at 11:26 AM..
Dowquest is offline        Reply With Quote
Old 05-02-2012, 11:26 PM   #2
Harbormaster
Registered Users
 
Posts: 2,280
 

Join Date: Jan 2011
Location: Puget Sound
Default

For some theory, try watching this video over at OpenPilot.org. Start at the 23-minute mark so you don't have to watch all of the quad stuff. (The theory's the same for quad and helis, BTW.) In OP-speak, P gain is Kp and I gain is Ki. (Oh, and for the record, the OpenPilot board isn't viable for helis yet--trust me on that, I have the broken blades to prove it. It has a big quad following though.)

When tweaking, start with P gain. That's the main gain. I couldn't get my B400 over the default P gain of 80 on roll and pitch without running into some oscillations.

I gain is integral gain (hence the "I"). It takes care of longer-term stability by calculating not just the movement in the wrong direction, but how long the error has been there ("integrating over time"). If you look at the button settings in the software, I gain gets lower as you move from beginner to 3D. That's because you don't want a lot of long term stability getting in the way when you're doing psycho moves. If you, like me, are looking for a fairly stable bird, about 120 is good here on roll and pitch. At 80 or 90 it feels much less locked in.

The last (and least) is D gain. I have never fussed with that. My tail is fine, so I haven't fussed with that either.

Basically, the stock F3C settings have worked great for me.
__________________
Tech challenge: Figure out how to turn off "Sent with Tapatalk"
To view links or images in signatures your post count must be 0 or greater. You currently have 0 posts.
Harbormaster is offline        Reply With Quote
Old 05-02-2012, 11:29 PM   #3
Harbormaster
Registered Users
 
Posts: 2,280
 

Join Date: Jan 2011
Location: Puget Sound
Default

People are posting their settings here for reference: http://www.helifreak.com/showthread.php?t=375742&page=3
__________________
Tech challenge: Figure out how to turn off "Sent with Tapatalk"
To view links or images in signatures your post count must be 0 or greater. You currently have 0 posts.
Harbormaster is offline        Reply With Quote
Old 05-02-2012, 11:50 PM   #4
Dowquest
Registered Users
Thread Starter Thread Starter
 

Join Date: Sep 2009
Location: Alpine, CA
Default

Thanks, i'll look at that tomorrow. When I saw the I gain at 100, I thought that was the limit, but I will bump it up a little and see what happens. I was going up in increments of 5, until i started getting oscillations, then backing down by 2. I have been through everything but pitch pid settings, which I will get to tommorrow. It does seem to be more locked in than when I started the process, so that is good.
Dowquest is offline        Reply With Quote
Reply

Tags
fbl, flybarless, tarot, zyx




Unregistered
Go Back   HeliFreak > R/C Electronics Support > Flybarless Helicopter Systems


Flybarless Helicopter Systems CSM Cyclock, Helitronix Multi-mixer, Spartan AP2000i, Firmtronix Digimix-3, Gyrobot, SK360and AC3X

Thread Tools
Display Modes

Posting Rules
You may not post new threads
You may not post replies
You may not post attachments
You may not edit your posts

BB code is On
Smilies are On
[IMG] code is On
HTML code is Off

Forum Jump


Copyright © 2004-2011 - William James - Helifreak.com