airmode off tumble

[Dzz]

I am experimenting with airmode off. It seems to be helping when I nip a branch the drone is less likely to go into a spazoid spin and I have at least some chance of manual recovery.

I have notice though at min throttle, the drone can start to tumble a bit or act a little weird in free fall. I have to remember to keep a little throttle in place to keep it behaving.

I looked at some settings, my motor_stop is off, and pid_at_min_throttle is on

min_throttle is set at like 1050, maybe I need to lower that some more and make sure the actual reading is above it?

any ideas welcome. this is a emax babyhawk2 hd and using betaflight to configure.

 

[wafflejock]

Not sure if already got your answer but basically you can set the min output throttle from transmitter side so the quad is always reading as some sort of throttle input after armed (you would need it to be under the min_throttle value so betaflight will let you arm or turn off the throttle check).

In general air mode is meant to combat the exact issue you're experiencing though, if the quad has zero throttle input it will still maintain some throttle to the motors to correct for error and allow you to use pitch/roll/yaw without any throttle input (effectively the more pitch/roll or yaw it needs to correct for error to get to a target position the more throttle it is going to add on top of whatever throttle input from you/the transmitter currently is even if that input value is 0).

I think most people either tie air mode to arming or to the mode switch being used for switching into acro flight, this way if quad is extra glitchy on take off or landing can just disarm a little early or switch modes and take off/land in a mode that doesn't have air mode active (might be tied to angle mode flight but all preference at that point).

Also if the quad is freaking out with air mode on when it hits a tree that is somewhat expected since the error vs target position is probably swinging around pretty wildly, reducing the D term and P term in PID loop could help a little to make it less insanely reactive to moment to moment change but also could introduce wobbles or other issues if go too low with them (generally higher P/D makes for snappier instantaneous responses especially D term but can lead to motors or ESCs overheating due to over correcting)

 

[Dzz]

thanks for the info