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本帖最后由 lodestar 于 2017-10-1 12:45 编辑
以前一直飞6s 5400,朗宇4110 1552桨，2.5KG这样，无论什么模式都很稳，默认参数。自动分析的日志是：
Test: Autotune = NA -
Test: Brownout = GOOD -
Test: Compass = GOOD - mag_field interference within limits (3.01%)
Test: Dupe Log Data = GOOD -
Test: Empty = GOOD -
Test: Event/Failsafe = GOOD -
Test: GPS = GOOD -
Test: IMU Mismatch = GOOD - (Mismatch: 0.19, WARN: 0.75, FAIL: 1.50)
Test: Motor Balance = GOOD - Motor channel averages = [1396, 1407, 1386, 1414]
Average motor output = 1401
Difference between min and max motor averages = 28
Test: Parameters = GOOD -
Test: PM = NA -
Test: Pitch/Roll = NA -
Test: Thrust = NA -
Test: VCC = GOOD -
ACCY的震动如图：
现在挂了6s10000，自稳模式和定高也没问题，但悬停模式就见鬼了，表现为上下缓慢飘逸，抖动。自动分析也都是good
Test: Autotune = NA -
Test: Brownout = GOOD -
Test: Compass = GOOD - mag_field interference within limits (3.26%)
Test: Dupe Log Data = GOOD -
Test: Empty = GOOD -
Test: Event/Failsafe = GOOD -
Test: GPS = GOOD -
Test: IMU Mismatch = GOOD - (Mismatch: 0.27, WARN: 0.75, FAIL: 1.50)
Test: Motor Balance = GOOD - Motor channel averages = [1470, 1488, 1467, 1504]
Average motor output = 1482
Difference between min and max motor averages = 37
Test: Parameters = GOOD -
Test: PM = NA -
Test: Pitch/Roll = NA -
Test: Thrust = NA -
Test: VCC = GOOD -
ACCY的震动也见鬼了，大幅抖动：
PID的P rate用CH6做个调整，没有明显变化，幅度是0.08-0.2。咋回事？？？
I是0.09，D是0.036
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发表于 2017-10-1 12:42
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