I have a customized 770mm quadrotor. I believe that the rate tuning is ok. The pitch step response in the manual flight mode looks good. However, the acceleration in position mode is really noisy and the flight performance has quick oscillations. The only thing I observe is that the Z velocity is not well-tuned. Will that Z velocity affect the performance of X and Y axis?
Here is the log in manual mode
https://review.px4.io/plot_app?log=20a43c9e-8dda-4440-9c63-dc946b5a3ef5
Here is the log in position mode
https://review.px4.io/plot_app?log=4c7051c4-13b7-4708-bfb8-973309475847
Have you tried to Autotune you UAV?
Or try to find the right flightspeed. Wind can be a factor. But most likely it is the leveling or autoune.
Hi, Thank you for replying. I have fixed it by improving the vibration isolation. The position mode amplified the noise level. The noise may come from my payload. I also tried autotune. It sets a high attitude gain which is interesting. My original PID is also good.
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