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PostPosted: Tue 09. Feb 2021 11:28:40 
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Joined: Mon 14. Sep 2015 15:44:06
Posts: 89
I have a test course that is quite simple but not easy.
I can do various flights If I can see correctly within close range.

But one test course is hard. I have to lift heli up about 4 meter and go straight to 62.5m while keeping height within +/- 0.5m and I can barely see it once I reach 62.5m. (this was designed for agricultural machines)
[A Bad law is still a law? many petitions are given but I don't know the course will be changed or not]

A very windy day, around 8-9m/s, when I turned on 'altitude hold' and push forward, I feel like the heli is going down a bit and up So the amplitude may not be within 1 meter. Now it started my concerns.

----
So here is the question. What will be the best setting for this simple task (with spector 700)

1) will 'position hold' and 'altitude hold' at the same time make the heli like 'coaxial heli'? thus, I can move very steadily to the target and hover there few seconds and come back?

2) or Should I start to set this up with lower pitch like 6 to 8 degree from the start?


Thank you.

* is it possible to put TF02 or mini lidar sensor to keep heli absolutely rock solid?

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PostPosted: Fri 12. Feb 2021 9:18:40 
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Joined: Mon 14. Sep 2015 15:44:06
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Okay, kind of self answer

Position hold and altitude hold at the same time will lock the heli in space. No control over heli like coaxial

I think I set coaxial mode switch with flight mode 4.
I will fix that and I will try coaxial and alt hold and see if it suits my need.

Thx.

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PostPosted: Sat 13. Feb 2021 15:04:22 
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coaxial mode helped me a lot. But "altitude hold" is good only when the heli is stationary.

I found,

1) moving forward or backward will descend the heli a bit (backward deeper)
2) and slowing down to stop the heli will rise the heli a bit.
3) and once it is close to the ground, it descends (ground effect or rotor back flow?)

remind me that Euler's formula and the static pressure decreases so FC tries to compensate by descending.
I think this is the barometric sensor's nature and limitation.

"Coax mode" and Flying very slowly might help.

Cheers, if someone is in the same pit.

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PostPosted: Sun 14. Feb 2021 9:57:41 
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I missed online manual suggesting, horizontal gain and vertical gain control.

For vertical oscillation, I should reduce vertical gain.

For position hold, stick input doesn't work so I am supposed to reduce the horizontal gain, too.

I will try to tune.

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PostPosted: Sun 28. Feb 2021 3:07:39 
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I tried to decrease the vertical gain down to 60% but not much different for a bit of oscillation.
So I end up liking to set horizontal gain 90%, vertical gain 80%.
Then I reduce the pitch range from 113% to 93/73/63 (very stable but not much room for rolling and pitching)
With coaxial mode, I could make it fairly stable.

A few trials made me to ask about Geolink Position hold and Altitude hold functions.
But I think I won't get the answer here so I will ask support section.

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PostPosted: Tue 02. Mar 2021 14:08:22 
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Joined: Mon 29. Apr 2013 16:06:44
Posts: 10371
Hello,

this section is for sharing settings from your models. I am checking it rarely so I am sorry for not answering your questions.

I am not sure if you still need to help, but your procedure is correct.

Please note any movement of the model is changing pressure very noticeably. So it can't be perfectly controlled.
On the other hand we are trying to improve all features constantly. Upcoming update will use sensors in a greater extent for altitude/position stabilisation. So that it can achieve centimeter precision possibly.
I think all the problems you described can be reduced very noticeably in near future even with windy condition.

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