Advanced cyclic tuning recap
Removing "Bobbles" from hard manuevers:
Based on the tuning session and log analysis provided in the transcript, here is a summary of the adjustments made to the helicopter's performance and settings:
Log Analysis and Filtering
- Filtering Adjustments: To clean up noise, the user adjusted notch filters, pulling them down to lower frequencies (e.g., from 3.5 to 2.5 on the roll second harmonic and to 5 on the fourth). Pitch and yaw filtering were increased ("doubled") to ensure thorough noise suppression, adopting a safer approach for the third-party model being tuned.
- Gyro Performance: The user noted that while minimal filtering is preferred, being overly aggressive with dynamic filters and low-pass settings can hinder performance.
Tuning Changes and Observations
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I-Term Relax: This setting proved to be highly impactful, with the user describing it as a "night and day" difference for locking in the model.
- Increasing the I-Term relax cutoff (from 20 to 30) helped reduce bouncing and improved the cleanliness of directional transitions during tick-tocks.
- Graphs indicated that with a higher cutoff value, the I-Term was more involved in the maneuvers, which effectively helped stabilize the disc.
- I-Term Value: The user lowered the I-Term to 15 to eliminate a "shutter" or bobble observed during pirouettes and collective pitch punches. While logs still showed slight oscillation, this adjustment successfully improved the response.
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Stop Gains: The user experimented with stop gains to sharpen the helicopter's stops.
- Counterclockwise: Felt soft, so stop gain was increased, resulting in a cleaner stop.
- Clockwise: Showed a wobble, so stop gain was decreased, which resulted in a softer but cleaner stop.
Flight Characteristics
- Connectivity: Post-adjustment, the model felt "miles better" and significantly more "locked in".
- Remaining Issues: Even with the improvements, there remains a slight interaction in roll during aggressive elevator pitch changes, which the user speculates might be addressed by "cyclic crosscouple" settings—a feature they have not previously needed to use.
The user concluded that while the tuning process is an "ever-ending game" when chasing perfection, the helicopter has reached a point where it is flying "really well" and can now be enjoyed for regular flying.