but once more the blades and the gravel had a major fight, which again, the blades lost!
On the plus side, the blades didn’t slice the LiPo battery power cable, so no risk of explosion – you can see me in protective glasses and gloves this time just in case.
That then means I have diagnostics to interpret, but even without those, just the video itself suggests the pitch PID has too high a gain, meaning it overshoots it’s correction leading to ever increasing front / back rocking. My code won’t cope with > 90 degree tilt so when the rocking goes over 90 degrees, the drone flips onto it’s head and accelerates hard towards the gravel.
Two obvious solutions spring to mind:
- reduce the pitch, roll and yaw PIDs’ P gains and / or add a negative D gain to each
- add support for > 90 swings – this is harder and unnecessary at this level of flight control if fixing the gains works.
Still not sure about the yaw though – far higher than expected still – I think I need to use the yaw angle PID’s I output to infuence the motors much as I do already with the vertical speed PID. But I’ll leave that for another day.