Today, I’ve been able to do more testing in one day than I’d managed throughout the whole of January – perhaps as many as 30 flights of 10s! How did this come about? Partly due to perfect weather, but mostly due to a lack of any radically unpredictable behaviour and hence no unexpected crashes.
And actually, the lack of any manic unpredictable behaviour has made the multiple testing necessary – I’ve run out of blatantly obvious problems, leaving me with only subtle ones – mostly based upon depedencies between the dlpf, tau, accelerometer noise and the PIDs that use them. Because of the many interactions, only a series of flights can actually show the flight style variations caused by a minor configuration change.
Which means I’m going to have to be more structured in my testing, and the fact the flights are getting better means I can. Each test needs to be run several times sequentially to check consistency. Once any common factor between all flights are identified, then a tweak to flight parameters can be made and the tests rerun.
So the plans for Thursday’s testing are:
- see if I can turn off the inner stability PID Ki gain – I suspect it’s making the response to the absolute angle PID sluggish and that in turn is leading to drift. I dropped this by 50% with no problem so I’m pretty sure I’ll be safe to take it down slowly to zero carefully
- If that works, then it’s back to fiddling with dlpf and complementary filters to minimise noise while ensuring meaningful changes don’t get filtered out
P.S. Despite no unexpected crashes, there were breakages which ended my testing. My new blades are fantastically strong, but one took on the kids swing (because I didn’t stop it), and as with the last time that happened, the swing won. Oh, and I lost another leg – the flexibility designed into these legs just doesn’t work as well in the cold. The plastic they are made from becomes a lot more rigid and so snaps on impact – although that’s pretty rare at the moment – normally they sink a couple of inches deep into the quagmire that’s the lawn!