Recommended PIDs For Large Hex?

[CradyArt]

I replaced the aging Pixhawk on my 790mm hexacopter with a Matek F765-WING and was wondering if anyone had some tips for the PID settings in iNAV (the largest prop size mentioned in the configurator 12 inches and I'm running 15-inch props)

Thanks!

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[Vissie26]

Dear Cradylab,

I am flying a 690 size hexa and my quite good flying pids are:

Roll : P 155 I 35 D 45
Pitch: P 165 I 35 D 65
Yaw: P 145 I 55 D 0

I am currently on version 2.2.1

This should fly reasonable for a first try.

I hope you find this info useful.

[CradyArt]

Sweet! Thanks Vissie! Much appreciated

[pDR8iLQ4go]

@Vissie26: May you please post your complete dump? I have a 650 size hexacopter and would like to compare the parameterization. Which kind of props and motors do you use?

[Vissie26]

here you go.

hexa dump 2.3.0.txt

Props: https://hobbyking.com/en_us/multirotor-carbon-fiber-t-style-propeller-12x5-5-black-cw-ccw-2pcs.html

Motors: https://hobbyking.com/en_us/turnigy-multistar-4225-610kv-16pole-multi-rotor-outrunner.html

Let me know if you need more info.

[pDR8iLQ4go]

I'm using a Matek F405 CTR and cheaper stuff from AliExpress:

Gartt ML3508 700KV Motors: https://de.aliexpress.com/item/32751865371.html?spm=a2g0o.productlist.0.0.ebc25ddaBaUuAo&algo_pvid=e105fdd5-14fa-4e8c-9c03-5c23b005f712&algo_expid=e105fdd5-14fa-4e8c-9c03-5c23b005f712-0&btsid=42319929-d8ec-4b3b-a563-b61a6b45168f&ws_ab_test=searchweb0_0,searchweb201602_9,searchweb201603_55

12x55 Carbon Props: https://de.aliexpress.com/item/32917571592.html?spm=a2g0s.8937460.0.0.3bc22e0ehCftce

[Vissie26]

That combination should work in my opinion. What kind of battery are you using? I'm flying with a 4 cell 10.000 mAh.

[pDR8iLQ4go]

Yes, it works fine. But I am using an older version of INAV, here is the dump:

2019-07-19_1255_Carbon.txt

I have a 4S 5500mAh, flight time is about 15min.

[Vissie26]

if you drag the file onto the screen where you can reply it adds it to your message.

[pDR8iLQ4go]

Thanks!

[Vissie26]

your D values for pitch and roll seem a bit high. I had mine up that high and it gave worse results the higher i set them. My current values are around 60 and a P gain of 140-160 but my frame is 690mm.
You could try (P 120 I 35 D 55) for roll and (P 130 I 35 D 60) and see how it flies.

[pDR8iLQ4go]

I think, that I‘m going to update INAV first. Getting a sufficient filter setup was a nightmare. I hope that the new dynamic filters do a good job. On my smaller Q380 size frame, it seems to work.

[Vissie26]

If you activate dynamic filters the video from Paweł Spychalski might be useful if you haven't seen it already.
https://www.youtube.com/watch?v=2YFkDsnPnqE