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Old May 05, 2015, 05:19 PM
defier3d is offline
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United States, WI, Iola
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Help!
KK2.1.5 Tuning Issues

Hi all,
I am having trouble with my scratch built Quad running a KK2.1.5 with Steveis 1.19s1 and Hobbyking 20A UBEC ESC flashed with Simon K. I have attached pictures of my PI settings. I have been playing around with the I Gain a bit, but the issue persists no matter what I gain I put in. Also, the issue only effects the pitch axis. That is why I un-linked the pitch and roll to try upping just the pitch, but if I bring the pitch back to where the roll is, it is the same.
Ok, so the issue is that when I pitch forward and then don't touch the stick it will accelerate forward then pitch back (sometimes violently). I am not touching the pitch stick just giving throttle.
Does anyone have any ideas what I am doing wrong?
Here is a video of the issue:
Scratch Built Quad With KK2 Issues (1 min 17 sec)

Note, It was windy in the video, but it behaves the same in calm.
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Last edited by defier3d; May 05, 2015 at 05:44 PM.
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Old May 05, 2015, 05:47 PM
defier3d is offline
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United States, WI, Iola
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A couple more things.
- It will do this both forward and backwards.
- It doesn't do this side to side.
- I have the front motors angled backwards a few degrees and the rear motors angled forward the same to aid in yaw authority, which it does help.
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Old May 05, 2015, 08:41 PM
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reelflyt
Edmonton, Alberta, Canada
Joined Mar 2010
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Hi.

OK now it seams that you really have not told us what your problem is . In the video all I see is the quad going back and forth . If you want more yaw authority the raise your P Limit to 100 and level the motors . P Limit is how much you allow the stick to override the P Gain .
Set you I Gain to 10 and try flying it . Raise it by 10's until it flies the way you want . The higher the I gain the more the quad will keep going in the direction you put it in . Try it and see what happens
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Old May 05, 2015, 09:05 PM
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Hi Reelflyt,
That is just the issue, It goes back and forth, but I only told it to go forth! :-) When I pitch forward and center the stick (auto level off) it keeps that attitude for a few seconds while increasing speed. Then all of a sudden it pitches backwards. It is almost like self level is on but only kicks in once the quad reaches 20mph. If I try to accelerate aggressively I can get it moving faster, but then the backwards pitch is much more violent. It will do this in reverse as well.

My Yaw authority is just fine, since I put the motors at an angle.

I just did another test. I took out the angled motors. Yaw authority went way down, but I don't seem to get the pitching issue anymore. I really don't have the room here at home to get up to speed much, so I will have to wait until tomorrow to get it out at the field to see. When you say to increase the P limit to 100 were you talking about Yaw? Would this make my angled motors unnecessary? Hmmm... Maybe I will go try that right now... Street light is enough for that eh? :-)

Thanks for the ideas.
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