BiCopter Oscillations

[Kevin_Erik]

Very nice out today, going for another Autotune with the Settings listed from 10-Feb-2019. However I will use D-Shot 600 instead of 1-Shot 330 Hz. Reason being that 1-Shot exhibited some behavior on the bench that I didn’t like and if it ever does this in flight my copter will become a dirt dart.

[Kevin_Erik]

Autotune results…

Yaw D-term Zero’d and Tune Sensitivity set to 0.8.

Attachments:

1. 

   Autotune-Wiz.jpg
   

2. 

   Roll-2.jpg
   

3. 

   Pitch-2.jpg
   

4. 

   Yaw-2.jpg
   

5. 

   Damp-Sens.jpg
   

6. 

   Stab-Tab-1.jpg
   

[Kevin_Erik]

The flight today was a godawful mess due to oscillations that started at take off and persisted through the entire flight regardless of orientation or flight mode. Soon discovered that the Yaw D-Term wasn’t Zero’d… Guess I forgot to reset it. Will try again tomorrow and if this is still an issue fly with just the Yaw defaulted to 15/15 or 10/10. Just enough to make the Yaw functional but not so much that it may fight with the Roll.

[Kevin_Erik]

This morning was really nice so I took to the sky’s again using the Autotune levels shown above and the Yaw level set to 15/15/0. Unfortunately the constant shimmy is still there and thus I will try Zero’ing Pitch D-Terms next flight.

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