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My Omnibus F4 iNav Quad Copter Experiment - Part 2 Testing Air Mode Crash

1,127 views · Published 17 January 2018 · 7:00 · Indexed 24 September 2026

Channel: Dave Merc Productions · 2018 · Science & Technology

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Omnibus F4 iNav Quad Copter Experiment - Part 2 Part 2 Testing Air Mode Crash. https://youtu.be/3hTust9g610

Do you know what GPS variables I need to change to fix the oscillating pitch in GPS hold aka Nav Position Hold? 
Flies fine in other modes.

Still trying get the wobble out of GPS hold. See my previous video where I began the build experiment. 
https://www.youtube.com/watch?v=uojYoU2T26M

This time I had a mishap trying out air mode and alt hold together.
That was a mistake! Won't do that again. Lowering the pitch P gain on angle mode did not prove to be helpful. I am till wondering if there are parameters I need to change just for athe gps position hold. Well back to the bench with a bottle of glue :-{

Looks like a need some new HQ 11x5 electric props. Motors seem to be ok.

Something I just learned:
About disabling the Baro, the iNav WIki says "Using ALTHOLD with a multicopter, you need a barometer."
I did an experiment. If I type "set baro_hardware = NONE" in the CLI it results in the ALTHOLD mode not even being available in the modes tab of the INav Configurator. So it seems it's impossible to turn off the baro and still have ALTHOLD with a multirotor.

One possible solution to GPS Hold pitch wobble or oscillation would be to try adjusting
nav_mc_vel_xy_p (P gain of Position-Rate)Too much P might cause "nervous" behavior and oscillations
Saw the above on the iNav Wiki
nav_mc_vel_xy_d can be used as a damper for p and i.

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