MultiWii飞刷固定翼抖舵

payne_pan · 发表于 2015-9-20 22:29

尝试用MultiWii飞刷固定翼抖舵，
Angle 模式下，稍微动动机身，舵就很抖，
飞在天上的时候，也看见飞机在抖
我改尝试改 PID，东改西改，就是不能消除[size=18.0180187225342px]抖[size=18.0180187225342px]舵

wcdsxm · 发表于 2015-9-23 05:59

类似感度太大了

payne_pan · 发表于 2015-9-23 10:27

wcdsxm 发表于 2015-9-23 05:59
类似感度太大了

感度跟PID有关吗？是控制PID中的哪一项？

payne_pan · 发表于 2015-9-23 10:42

wcdsxm 发表于 2015-9-23 05:59
类似感度太大了

好像找到要改动的位置了

   /* MPU6050 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
      to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.
      It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
      balancing options ran out. Uncomment only one option!
      IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.*/
   //#define MPU6050_LPF_256HZ    // This is the default setting, no need to uncomment, just for reference
   //#define MPU6050_LPF_188HZ
   //#define MPU6050_LPF_98HZ
   //#define MPU6050_LPF_42HZ
   //#define MPU6050_LPF_20HZ
   //#define MPU6050_LPF_10HZ
   //#define MPU6050_LPF_5HZ    // Use this only in extreme cases, rather change motors and/or props

qiwei002 · 发表于 2015-11-2 15:47

//#define GYRO_SMOOTHING {20,20,3} 试试将此行注释去掉。

payne_pan · 发表于 2015-11-2 16:30

qiwei002 发表于 2015-11-2 15:47
//#define GYRO_SMOOTHING {20,20,3} 试试将此行注释去掉。

试验过了，效果比调 lpf好

范小轩 · 发表于 2015-11-2 21:43

立三 · 发表于 2018-11-3 13:01

好帖，长知识了

王写声 · 发表于 2018-11-3 21:03

好。做个记号

MultiWii飞刷固定翼抖舵

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