Px4 Multirotor Parameter Tuning Tutorial Ⅲ

Step 4: Stabilize the Yaw Angular Velocity

P Gain Adjustment

Parameter: MC_YAWRATE_P

Set MC_YAWRATE_P to a relatively small value, for example, 0.1.

Firmly hold the multirotor by hand and push the throttle to approximately 50% so that the weight of the aircraft is almost zero. Rotate the aircraft in the yaw direction by hand and observe its response. The sound of the motors should change, and the aircraft should resist this yaw rotation. The response of the aircraft will generally be weaker than that of the roll and pitch movements, which is normal. If the aircraft oscillates or trembles, the RATE_P needs to be turned down. If the response of the aircraft is very intense even for very small movements (full throttle vs idling propellers), continue to reduce RATE_P. Typical values are approximately between 0.2 and 0.3.

If the yaw angular velocity control is very sensitive or oscillates, it may worsen the roll and pitch responses. The overall response of the system can be checked through steering, rolling, pitching, and yawing.

Step 5: Stabilize the Yaw Angle

P Gain Adjustment

Parameter: MC_YAW_P

Set MC_YAW_P to a relatively low value, for example, 1.

Firmly hold the multirotor by hand and push the throttle to approximately 50% so that the weight of the aircraft is almost zero. Rotate the aircraft in the yaw direction by hand and observe its response. The aircraft should slowly return to the initial heading. If the aircraft oscillates, the MC_YAW_P needs to be turned down. Once the control response becomes slower but correct, increase the MC_YAW_P until the response becomes stable without oscillation. Typical values are approximately between 2 and 3.

You can view the ATTITUDE.yaw yaw angle curve in the QGroundControl ground station. The overshoot of the yaw angle should not exceed 2 - 5%.

Feedforward Adjustment

Parameter: MC_YAW_FF

This parameter is not particularly important and can be adjusted during flight. In the worst-case scenario, the yaw response will be either lagging or too fast. Adjust the feedforward parameter FF to obtain a comfortable response. The effective range is from 0 to 1. Typical values are 0.8 - 0.9. (For aerial video shooting, the optimal value may be much smaller to achieve a smooth response.)

You can view the ATTITUDE.yaw yaw angle curve in the QGroundControl ground station. The overshoot of the yaw angle should not exceed 2 - 5%.

Debugging Document

https://blog.csdn.net/z1872385/article/details/129318236

Px4 Multirotor Parameter Tuning Tutorial Ⅰ

Px4 Multirotor Parameter Tuning Tutorial Ⅱ

Last modified: 2025-01-02Powered by

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