AP_Scripting: raise max FLTE for yaw to 8

[tridge]

better yaw for many vehicles

[timtuxworth]

better yaw for many vehicles

Perhaps you could also update the .md file. it currently says "the YAW_FLTE filter will be set to a maximum of 2Hz". It seems like it might be actually tuning YAW_FLTE rather than simply setting the value, which is what it seems to say right now.

[Hwurzburg]

I don't think this actually works.....it will always be left at the default of 2.5 ....before it was always set to 2.0 (old FLTE_MAX) because the default exceeded it....now it does nothing

[tridge]

I don't think this actually works.....it will always be left at the default of 2.5

this patch is just to stop quicktune from overriding and reducing FLTE so low. It allows the user to set a FLTE before tuning
Separately we could change the default away from 2.5

[tridge]

Perhaps you could also update the .md file.

thanks! fixed

[Hwurzburg]

QuikTune does no tuning on Yaw FLTE at this point....it just resets it to FLTE_MAX if the tune starts with it either <=0 or greater than FLTE_MAX....I don't think you want to prevent someone from setting it > FLTE_MAX in some cases.....

having QuikTune either leave it alone totally or set it like you proposed at one time to GYRO_FLT/8 might be better?

[timtuxworth]

I was wondering if QuickTune should not tune yaw on a tilt rotor? From what I think I understand from what others have said (and have seen from my own tuning), it doesn't seem to work on a tilt rotor. Not sure about other frame types.

[timtuxworth]

then

[Hwurzburg]

I was wondering if QuickTune should not tune yaw on a tilt rotor? From what I think I understand from what others have said (and have seen from my own tuning), it doesn't seem to work on a tilt rotor. Not sure about other frame types.

Andy Piper and I have had it tune yaw fine in two different vectored yaw QPlanes....just the FLTE was too low after....for me setting it to 10Hz fixed the issue after QuickTune

[andyp1per]

Andy Piper and I have had it tune yaw fine in two different vectored yaw QPlanes....just the FLTE was too low after....for me setting it to 10Hz fixed the issue after QuickTune

I actually can no longer repeat this using such a high value, I had to use 2.5Hz. @lthall explained the basic problem to me - with vectored yaw and tri-tilts in particular there is a momentum effect from the movement of the motors backwards and forwards and the momentum effect is a physical D term working in the wrong direction. This makes it very hard to tune good values of D - at least for QAutotune - it's possible that QuickTune is doing better here since it is just looking for oscillation, but its also a very complex mechanical system so hard to see what the right approach might be. Using a low FLTE linearizes the effect, but then has other issues.

[timtuxworth]

As discussed in the dev call 2024-02-12, I flew this yesterday with Q_A_RAT_Y_FLTE = 10 and Q_A_ACCEL_Y_MAX = 4000 (reduced from 6000) and still getting a slow Yaw oscillation, although much improved from what I had been seeing.
This is a 2 meter tilt-rotor quadplane with 15 inch props.
Here are 3 logs:
https://www.dropbox.com/scl/fi/vc09k3hfx9n50hvejw2bx/log_85_2024-2-11-16-19-54.bin?rlkey=1vuky6rqprkrd2fghbcr0qshk&dl=0
https://www.dropbox.com/scl/fi/ewmefj662q5cgn789b50n/log_86_2024-2-11-16-40-08.bin?rlkey=3pl16nr8emvyc1d2dfwlgf4ew&dl=0
https://www.dropbox.com/scl/fi/i5uwv7mms8r273v2zeu0k/log_87_2024-2-11-16-58-18.bin?rlkey=eo82mrzopugk3szsefnefsfbj&dl=0

Also want to re-up this video which shows how this seems to be happening, although this was with a lower value for FLTE. You can actually watch the front motors tilting backwards and forwards as they try to stabilize the aircraft. https://youtu.be/pezygLLC45Q

discussed on dev call