WARNING! There have been reports of certain PID values over saturating the motor outputs possibly causing a crash if not adjusted properly. Read our forum thread here.
NOTE: If you’re unsure if your values are still consistent you can always start from scratch by performing a factory reset.
Resetting your Board to Defaults aka Factory Reset
You can achieve this in 2 different ways:
– change your CONFIG_VERSION to 0 in the “calibration and parameters” widget of the QGC, transmit and write the changes. After a reboot your values are reset to default.
– create a params.txt file on your sd-card only containing the text line:
#define CONFIG_VERSION 0
Insert the card into your AQ board and reboot.
Here’s a list of possible symptoms and solutions:
|My AQ oscillates with large transitions and low frequency.||Decrease your tilt Angle P|
|My AQ is lazy and sluggish (does not respond very well in all situations).||Increase your tilt Angle P|
|My AQ is not balanced (I have a special frame or shifted center of gravity).||Increase your tilt Angle I slightly|
|My AQ is not balanced (There is a relatively strong wind).||Increase your tilt Angle I slightly|
|My AQ is aggressive with large oscillations (looks like it always tilts by a large angle).||Decrease your tilt Angle I slightly|
|My AQ oscillates with small transitions and high frequency.||Increase your tilt rate D in steps of 100
|I’m changing tilt rate P and tilt rate I but my AQ does not seem to stabilize itself.||Try increase your tilt Angle D|
|My AQ rotates with large transitions and low frequency.||Decrease your yaw rate P|
|My AQ rotates with large transitions and very low frequency (< 1Hz).||Increase your yaw rate I slightly|
|My AQ rotates with small transitions and high frequency.||Decrease your yaw rate D|
|When I command my AQ to tilt (on roll or pitch axes), it reaches the target angle and starts oscillating around it.||Decrease your tilt angle P|
|When I command my AQ to tilt (on roll or pitch axes), it overshoots/undershoots the target angle.||Increase your tilt angle I slightly|
|My AQ does not respond very well to fast and hard tilt maneuvers but it works well in slow/ normal ones.||Decrease your tilt angle D|
|When I command my AQ to rotate (on yaw axis), it reaches the target angle and starts oscillating around it.||Decrease your yaw angle P|
|When I command my AQ to rotate (on yaw axis), it overshoots/undershoots the target angle.||Increase your yaw angle D|
|I have a mix of above problems and cannot seem to find any solution.||Put I and D terms to zero.
Start tuning your P alone, and then move to I, and then to D.
|When I command my AQ to navigate to a waypoint, it reaches the target position and starts moving around back and forth.||Decrease your navigation distance P.|
|When I command my AQ to navigate to a waypoint, it overshoots/undershoots the target position.||Increase your navigation speed I slightly.|
|My AQ is slow (lazy) in navigation.||Increase your navigation speed P or navigation distance P.|
|When I command my AQ to ascend/descend to an altitude, it reaches the target altitude and starts moving around up and down.||Decrease your altitude position P.|
|When I command my AQ to ascend/descend to an altitude, it overshoots/undershoots the target altitude.||Increase your altitude speed I slightly|
|My AQ is slow (lazy) in ascending/descending.||Increase your altitude speed P or altitude position P|
|I have a relatively heavy payload and my AQ cannot reach the target altitude.||Increase your altitude speed P slightly|
|My AQ violently jumps up and down in position hold – high frequency.||Decrease altitude speed I in steps of 0.1 . Never set it to 0 because then there is no altitude hold.|
|My AQ violently jumps up and down in position hold – low frequency.||Decrease your altitude speed P in steps of 10.|
|Motors will not start or no arming beep||Increase or decrease MOT_START value|
|I’m changing P, I and D terms but nothing seems to change.||Remember to check the limits on each parameter.
Be aware that high update rates (200Hz/400Hz) will make I and D outputs go very high in a short time
which means output saturation.
|My wife threw my AQ in the trash!||Well, that’s the kind of problems a PID cannot solve!
Next time, when you fly indoors, be careful for your wife antiques.