Holybro S500 Airframe #12322
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Holybro S500 Airframe #12322
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@bkueang and me realized that on every frame we tune the integral gain for the roll and pitch rate controller is much too low. Usually it needs to be increased to 0.3 or even 0.4 to have better "locked in" flight performance and 0.2 seems like a good compromise for a safe default.
dagar
approved these changes
Jun 24, 2019
bkueng
approved these changes
Jun 24, 2019
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Describe problem solved by the proposed pull request
Thanks to feedback from Holybro we realized that on their S500 Kit the default parameters don't result in a user-friendly tuning and we created a profile for users using that exact kit. Furthermore we'll check the default gains on 450-500 size quadcopters to see if they need to be adjusted for best first flight experience.
Additionally the default rate constrol integral gain for roll and pitch was increased because @bkueang and me realized that on every frame we tune it's much too low. Usually it needs to be increased to 0.3 or even 0.4 to have better "locked in" flight performance and 0.2 seems like a good compromise for a safe default.
Test data / coverage
The tuning of the Holybro S500 airframe was tested on site on a brand new assembled kit (with calibrated ESCs). The team from Holybro that was present at the PX4 Dev Summit was able to test it.