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Troubleshooting

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:

Attitude PID

Symptom Possible solution
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.

Navigation PID

Symptom Possible solution
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.

Others

Symptom Possible solution remarks
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.
This page was created on 18-Jun-12 by menno. Last modified on 21-Jan-15 by kinderkram.