Inav: Drone bouncing gps mode after moving

[danylam]

Hi, the quad is hovering nice and still with no drifting and no toilettbowling.

BUT, if i fly the quad in any direction and then let go of the sticks, the quad tilts up in a pendulum like movement, and then keeps rocking back and forth for quite some time... I have to confess that I'm not to sure about PID tuning, and I guess this has something to do with the Position XY and the Velocity XY... But I have found nothing to point me in the right direction.

Anybody can help me?

Thanks
Entering CLI Mode, type 'exit' to return, or 'help' # DUMP

version
INAV/KAKUTEF4V2 1.9.0 Mar 5 2018 / 01:18:34 (dc4ef59)
resources
mixer
mixer QUADX

mmix reset

servo mix
smix reset

servo
servo 0 1000 2000 1500 100 -1
servo 1 1000 2000 1500 100 -1
servo 2 1000 2000 1500 100 -1
servo 3 1000 2000 1500 100 -1
servo 4 1000 2000 1500 100 -1
servo 5 1000 2000 1500 100 -1
servo 6 1000 2000 1500 100 -1
servo 7 1000 2000 1500 100 -1

feature
feature -RX_PPM
feature -VBAT
feature -TX_PROF_SEL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -TELEMETRY
feature -CURRENT_METER
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DASHBOARD
feature -BLACKBOX
feature -CHANNEL_FORWARDING
feature -TRANSPONDER
feature -AIRMODE
feature -SUPEREXPO
feature -VTX
feature -RX_SPI
feature -PWM_SERVO_DRIVER
feature -PWM_OUTPUT_ENABLE
feature -OSD
feature -FW_LAUNCH
feature -TRACE
feature VBAT
feature TX_PROF_SEL
feature GPS
feature CURRENT_METER
feature BLACKBOX
feature PWM_OUTPUT_ENABLE
feature OSD

beeper
beeper RUNTIME_CALIBRATION
beeper HW_FAILURE
beeper RX_LOST
beeper RX_LOST_LANDING
beeper DISARMING
beeper ARMING
beeper ARMING_GPS_FIX
beeper BAT_CRIT_LOW
beeper BAT_LOW
beeper GPS_STATUS
beeper RX_SET
beeper ACTION_SUCCESS
beeper ACTION_FAIL
beeper READY_BEEP
beeper MULTI_BEEPS
beeper DISARM_REPEAT
beeper ARMED
beeper SYSTEM_INIT
beeper ON_USB
beeper LAUNCH_MODE
beeper CAM_CONNECTION_OPEN
beeper CAM_CONNECTION_CLOSED

map
map AETR5678

name
name 330 gps

serial
serial 20 1 115200 38400 0 115200
serial 0 1 115200 38400 0 115200
serial 2 64 115200 38400 0 115200
serial 3 0 115200 38400 0 115200
serial 4 0 115200 38400 0 115200
serial 5 2 115200 115200 0 115200

aux
aux 0 0 0 1875 2025
aux 1 1 2 900 1700
aux 2 3 2 1400 1900
aux 3 9 2 1725 1900
aux 4 21 3 1875 2100
aux 5 18 2 1925 2100
aux 6 0 0 900 900
aux 7 0 0 900 900
aux 8 0 0 900 900
aux 9 0 0 900 900
aux 10 0 0 900 900
aux 11 0 0 900 900
aux 12 0 0 900 900
aux 13 0 0 900 900
aux 14 0 0 900 900
aux 15 0 0 900 900
aux 16 0 0 900 900
aux 17 0 0 900 900
aux 18 0 0 900 900
aux 19 0 0 900 900

adjrange
adjrange 0 0 0 900 900 0 0
adjrange 1 0 0 900 900 0 0
adjrange 2 0 0 900 900 0 0
adjrange 3 0 0 900 900 0 0
adjrange 4 0 0 900 900 0 0
adjrange 5 0 0 900 900 0 0
adjrange 6 0 0 900 900 0 0
adjrange 7 0 0 900 900 0 0
adjrange 8 0 0 900 900 0 0
adjrange 9 0 0 900 900 0 0
adjrange 10 0 0 900 900 0 0
adjrange 11 0 0 900 900 0 0

rxrange
rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000

master
set looptime = 2000
set gyro_sync = ON
set gyro_sync_denom = 2
set align_gyro = DEFAULT
set gyro_hardware_lpf = 188HZ
set gyro_lpf_hz = 60
set moron_threshold = 32
set gyro_notch1_hz = 0
set gyro_notch1_cutoff = 1
set gyro_notch2_hz = 0
set gyro_notch2_cutoff = 1
set vbat_adc_channel = 1
set rssi_adc_channel = 3
set current_adc_channel = 2
set airspeed_adc_channel = 0
set acc_notch_hz = 0
set acc_notch_cutoff = 1
set align_acc = DEFAULT
set acc_hardware = MPU6500
set acc_lpf_hz = 15
set acczero_x = 42
set acczero_y = -17
set acczero_z = -80
set accgain_x = 4103
set accgain_y = 4093
set accgain_z = 4025
set align_mag = CW270FLIP
set mag_hardware = HMC5883
set mag_declination = -2120
set magzero_x = 67
set magzero_y = -9
set magzero_z = -19
set mag_calibration_time = 30
set baro_hardware = BMP280
set baro_median_filter = ON
set pitot_hardware = NONE
set pitot_use_median_filter = ON
set pitot_noise_lpf = 0.600
set pitot_scale = 1.000
set receiver_type = SERIAL
set mid_rc = 1500
set min_check = 1100
set max_check = 1900
set rssi_channel = 0
set rssi_scale = 100
set rssi_invert = OFF
set rc_smoothing = ON
set serialrx_provider = SBUS
set sbus_inversion = ON
set rx_spi_rf_channel_count = 0
set rx_min_usec = 885
set rx_max_usec = 2115
set serialrx_halfduplex = OFF
set blackbox_rate_num = 1
set blackbox_rate_denom = 1
set blackbox_device = SPIFLASH
set min_throttle = 1150
set max_throttle = 1850
set min_command = 1000
set motor_pwm_rate = 1000
set motor_pwm_protocol = ONESHOT125
set failsafe_delay = 5
set failsafe_recovery_delay = 5
set failsafe_off_delay = 200
set failsafe_throttle = 1000
set failsafe_throttle_low_delay = 100
set failsafe_procedure = RTH
set failsafe_stick_threshold = 50
set failsafe_fw_roll_angle = -200
set failsafe_fw_pitch_angle = 100
set failsafe_fw_yaw_rate = -45
set failsafe_min_distance = 0
set failsafe_min_distance_procedure = DROP
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 0
set gimbal_mode = NORMAL
set vbat_scale = 1095
set vbat_max_cell_voltage = 424
set vbat_min_cell_voltage = 330
set vbat_warning_cell_voltage = 350
set battery_capacity = 4500
set battery_capacity_warning = 1575
set battery_capacity_critical = 1350
set battery_capacity_unit = MAH
set current_meter_scale = 400
set current_meter_offset = 0
set current_meter_type = ADC
set yaw_motor_direction = 1
set yaw_jump_prevention_limit = 200
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set servo_center_pulse = 1500
set servo_pwm_rate = 50
set servo_lpf_hz = 20
set flaperon_throw_offset = 200
set tri_unarmed_servo = ON
set reboot_character = 82
set imu_dcm_kp = 2500
set imu_dcm_ki = 50
set imu_dcm_kp_mag = 10000
set imu_dcm_ki_mag = 0
set small_angle = 25
set fixed_wing_auto_arm = OFF
set disarm_kill_switch = ON
set auto_disarm_delay = 5
set gps_provider = UBLOX
set gps_sbas_mode = NONE
set gps_dyn_model = AIR_1G
set gps_auto_config = ON
set gps_auto_baud = ON
set gps_ublox_use_galileo = OFF
set gps_min_sats = 6
set deadband = 5
set yaw_deadband = 5
set pos_hold_deadband = 20
set alt_hold_deadband = 50
set 3d_deadband_throttle = 50
set fw_autotune_overshoot_time = 100
set fw_autotune_undershoot_time = 200
set fw_autotune_threshold = 50
set fw_autotune_ff_to_p_gain = 10
set fw_autotune_ff_to_i_tc = 600
set inav_auto_mag_decl = OFF
set inav_gravity_cal_tolerance = 5
set inav_use_gps_velned = ON
set inav_reset_altitude = FIRST_ARM
set inav_max_surface_altitude = 200
set inav_w_z_surface_p = 3.500
set inav_w_z_surface_v = 6.100
set inav_w_z_baro_p = 0.350
set inav_w_z_gps_p = 0.200
set inav_w_z_gps_v = 0.500
set inav_w_xy_gps_p = 1.000
set inav_w_xy_gps_v = 2.000
set inav_w_z_res_v = 0.500
set inav_w_xy_res_v = 0.500
set inav_w_acc_bias = 0.010
set inav_max_eph_epv = 1000.000
set inav_baro_epv = 100.000
set nav_disarm_on_landing = OFF
set nav_use_midthr_for_althold = OFF
set nav_extra_arming_safety = ON
set nav_user_control_mode = ATTI
set nav_position_timeout = 5
set nav_wp_radius = 100
set nav_wp_safe_distance = 10000
set nav_auto_speed = 300
set nav_auto_climb_rate = 500
set nav_manual_speed = 500
set nav_manual_climb_rate = 200
set nav_landing_speed = 200
set nav_land_slowdown_minalt = 500
set nav_land_slowdown_maxalt = 2000
set nav_emerg_landing_speed = 500
set nav_min_rth_distance = 500
set nav_rth_climb_first = ON
set nav_rth_climb_ignore_emerg = OFF
set nav_rth_tail_first = OFF
set nav_rth_allow_landing = ALWAYS
set nav_rth_alt_mode = AT_LEAST
set nav_rth_abort_threshold = 50000
set nav_rth_altitude = 1000
set nav_mc_bank_angle = 30
set nav_mc_hover_thr = 1447
set nav_mc_auto_disarm_delay = 2000
set nav_fw_cruise_thr = 1400
set nav_fw_min_thr = 1200
set nav_fw_max_thr = 1700
set nav_fw_bank_angle = 20
set nav_fw_climb_angle = 20
set nav_fw_dive_angle = 15
set nav_fw_pitch2thr = 10
set nav_fw_loiter_radius = 5000
set nav_fw_land_dive_angle = 2
set nav_fw_launch_velocity = 300
set nav_fw_launch_accel = 1863
set nav_fw_launch_max_angle = 45
set nav_fw_launch_detect_time = 40
set nav_fw_launch_thr = 1700
set nav_fw_launch_idle_thr = 1000
set nav_fw_launch_motor_delay = 500
set nav_fw_launch_spinup_time = 100
set nav_fw_launch_min_time = 0
set nav_fw_launch_timeout = 5000
set nav_fw_launch_max_altitude = 0
set nav_fw_launch_climb_angle = 18
set telemetry_switch = OFF
set telemetry_inversion = OFF
set frsky_default_latitude = 0.000
set frsky_default_longitude = 0.000
set frsky_coordinates_format = 0
set frsky_unit = METRIC
set frsky_vfas_precision = 0
set frsky_vfas_cell_voltage = OFF
set hott_alarm_sound_interval = 5
set smartport_uart_unidir = OFF
set smartport_fuel_unit = MAH
set ibus_telemetry_type = 0
set ltm_update_rate = NORMAL
set osd_video_system = 0
set osd_row_shiftdown = 0
set osd_units = METRIC
set osd_stats_energy_unit = MAH
set osd_rssi_alarm = 20
set osd_time_alarm = 12
set osd_alt_alarm = 120
set osd_artificial_horizon_reverse_roll = OFF
set osd_crosshairs_style = DEFAULT
set osd_left_sidebar_scroll = NONE
set osd_right_sidebar_scroll = NONE
set osd_sidebar_scroll_arrows = OFF
set osd_main_voltage_pos = 2135
set osd_main_voltage_decimals = 1
set osd_rssi_pos = 23
set osd_flytimer_pos = 311
set osd_ontime_pos = 279
set osd_flymode_pos = 2412
set osd_throttle_pos = 65
set osd_vtx_channel_pos = 200
set osd_crosshairs_pos = 2048
set osd_artificial_horizon_pos = 200
set osd_current_draw_pos = 2168
set osd_mah_drawn_pos = 2200
set osd_wh_drawn_pos = 268
set osd_bat_remaining_capacity_pos = 2232
set osd_bat_remaining_percent_pos = 225
set osd_craft_name_pos = 84
set osd_gps_speed_pos = 2146
set osd_gps_sats_pos = 2401
set osd_gps_lon_pos = 402
set osd_gps_lat_pos = 384
set osd_home_dir_pos = 2094
set osd_home_dist_pos = 2209
set osd_altitude_pos = 2177
set osd_vario_pos = 183
set osd_vario_num_pos = 248
set osd_pid_roll_pos = 322
set osd_pid_pitch_pos = 354
set osd_pid_yaw_pos = 386
set osd_power_pos = 2264
set osd_air_speed_pos = 163
set osd_ontime_flytime_pos = 2422
set osd_rtc_time_pos = 407
set osd_messages_pos = 2433
set osd_gps_hdop_pos = 320
set osd_main_cell_voltage_pos = 44
set osd_throttle_auto_thr_pos = 2113
set osd_heading_graph_pos = 82
set osd_efficiency_mah_pos = 248
set osd_efficiency_wh_pos = 161
set i2c_speed = 400KHZ
set debug_mode = NONE
set acc_task_frequency = 500
set attitude_task_frequency = 250
set async_mode = NONE
set throttle_tilt_comp_str = 0
set input_filtering_mode = OFF
set mode_range_logic_operator = OR
set stats = OFF
set stats_total_time = 0
set stats_total_dist = 0
set tz_offset = 0
set display_force_sw_blink = OFF

profile
profile 1

set mc_p_pitch = 40
set mc_i_pitch = 30
set mc_d_pitch = 23
set mc_p_roll = 40
set mc_i_roll = 30
set mc_d_roll = 23
set mc_p_yaw = 85
set mc_i_yaw = 45
set mc_d_yaw = 0
set mc_p_level = 20
set mc_i_level = 15
set mc_d_level = 75
set fw_p_pitch = 5
set fw_i_pitch = 7
set fw_ff_pitch = 50
set fw_p_roll = 5
set fw_i_roll = 7
set fw_ff_roll = 50
set fw_p_yaw = 6
set fw_i_yaw = 10
set fw_ff_yaw = 60
set fw_p_level = 20
set fw_i_level = 5
set fw_d_level = 75
set max_angle_inclination_rll = 300
set max_angle_inclination_pit = 300
set dterm_lpf_hz = 40
set yaw_lpf_hz = 30
set dterm_setpoint_weight = 0.000
set fw_iterm_throw_limit = 165
set fw_reference_airspeed = 1000.000
set fw_turn_assist_yaw_gain = 1.000
set dterm_notch_hz = 0
set dterm_notch_cutoff = 1
set pidsum_limit = 500
set yaw_p_limit = 300
set iterm_ignore_threshold = 200
set yaw_iterm_ignore_threshold = 50
set rate_accel_limit_roll_pitch = 0
set rate_accel_limit_yaw = 10000
set heading_hold_rate_limit = 90
set nav_mc_pos_z_p = 98
set nav_mc_pos_z_i = 0
set nav_mc_pos_z_d = 0
set nav_mc_vel_z_p = 100
set nav_mc_vel_z_i = 50
set nav_mc_vel_z_d = 10
set nav_mc_pos_xy_p = 65
set nav_mc_pos_xy_i = 120
set nav_mc_pos_xy_d = 10
set nav_mc_vel_xy_p = 150
set nav_mc_vel_xy_i = 15
set nav_mc_vel_xy_d = 100
set nav_mc_heading_p = 60
set nav_fw_pos_z_p = 50
set nav_fw_pos_z_i = 0
set nav_fw_pos_z_d = 0
set nav_fw_pos_xy_p = 75
set nav_fw_pos_xy_i = 5
set nav_fw_pos_xy_d = 8
set nav_fw_heading_p = 60
set thr_mid = 50
set thr_expo = 0
set tpa_rate = 0
set tpa_breakpoint = 1500
set rc_expo = 70
set rc_yaw_expo = 20
set roll_rate = 20
set pitch_rate = 20
set yaw_rate = 20
set manual_rc_expo = 70
set manual_rc_yaw_expo = 20
set manual_roll_rate = 100
set manual_pitch_rate = 100
set manual_yaw_rate = 100
blackbox_log_2018-04-11_162553.TXT

[matlj]

I've had the exact same issue on my 330 after upgrading to 1.9.0, without changing any setting, and so did some people on rc-groups (violent stop and bounces when in poshold mode).
Setting nav_mc_vel_xy_p to 60 fixed the issue for me.

[danylam]

Thanks because it fixed for me as well

[matlj]

Cool!

This is really weird, because the same quad on 1.8.0 with default values for nav_mc_vel stopped very smoothly in POSHOLD mode. I found a dump from my quad on 1.8.0, and the value for p was even higher:
set nav_mc_vel_xy_p = 180

[alexeystn]

My 5" quad also oscillates severely in Poshold and RTH with 1.9 firmware and default 5"GPS preset. Meanwhile 1.8 is almost perfect.
Here is what I found in code:
https://github.com/iNavFlight/inav/blob/1.9.0/src/main/flight/pid.c#L129
https://github.com/iNavFlight/inav/blob/1.8/src/main/flight/pid.c#L129
There is different scale for NAV_VEL_XY_P in versions 1.8 and 1.9 (×20 and ×100), so these values cannot be simply transfered from 1.8 to 1.9 with "diff" command.
I suppose, this is the reason.

[digitalentity]

@alexeystn oops, good point. I've amended the release notes:

Internal scaling for VEL_XY PID setting has changed. It is advised to use default setting (40) as a starting point. Old setting from 1.8 or earlier will probably cause severe oscillation.

[digitalentity]

@DzikuVx @fiam we should probably change presets to reflect the change

[DzikuVx]

I will take care about it

pt., 13 kwi 2018 o 13:41 użytkownik Konstantin Sharlaimov <
[email protected]> napisał:

@DzikuVx https://github.com/DzikuVx @fiam https://github.com/fiam we
should probably change presets to reflect the change

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Pozdrawiam,
Paweł Spychalski

[svhirst]

I have found I had to put the D to the max 255 to control the issue on 1.9.3, admittedly I'm using an old quad.

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