10kg 22inch 6s quadcopter on 3d printed frame, wrong ESC RPM readings

[mike_tk (Mike)]

Hello,

I’m doing initial tuning of quadcopter I made with custom 3d printed frame and hobbywing x6-se motors with 22 inch props https://www.hobbywing.com/en/index.php/products/cmx6se
I have esc connected with CAN bus but looks like I’m getting RPM reading that are higher than real, so my notch filter sets to higher frequency than needed, is settings INS_HNTCH_REF correct way of doing this? Is that usual for hobbywing X class motors?
If possible please advice of correct logging setup and I would appreciate with any hints and notes about my config.

Here is an example - notch filter is set to ~ 70hz while actual noise is near 50hz

logs and video attached

Dropbox

[amilcarlucas]

You need to correct the number of motor magnetic pole pairs ESC parameter.

Each motor is different. Contact the manufacturer.

[mike_tk (Mike)]

Don’t think it’s possible, motor and esc integrated in one case, RPM is sent by CAN bus, I can edit only direction of rotation. You think hobbywing should fix it by firmware update?

[prsh8ya (Kevin)]

Is this number in your params set to the number of magnets in your motor?

[mike_tk (Mike)]

Are you saying about RPM1_SCALING ? I just not sure that it’s linear.
Changing magnet number in esc is not possible, I can set only node id, thrust id and direction, everything else is preconfigured by vendor.

[amilcarlucas]

No, we are talking about ESC_HW_POLES parameter.

[mike_tk (Mike)]

I don’t use datalink via uart, motors are connected directly to CAN bus, so I don’t have this parameter available.
I only found KDE_NPOLE parameter that currently set to 14 but it probably to KDE ESC related, not hobbywing, and SERVO_BLH_POLES that also set to 14?

[mike_tk (Mike)]

It might be similar to this thread

VESC DroneCAN Telemetry for Dynamic Notch

Okay I found the issue: VESC firmware version 5.03 sends eRPM In VESC v 5.03: bldc/libcanard/canard_driver.c at 0b5c9fd0ddefc89ae70ce792baeed303a1f8691b · vedderb/bldc · GitHub Fix introduced with v 6.00 Send RPM instead of ERPM on UAVCAN · vedderb/bldc@0ee01ef · GitHub Brief summary for those who stuble upon this or have simmilar issues: VESC firmware <= 5.03 transmits eRPM instead if mechanical RPM VESC firmware => 6.00 complies with the UAVCAN (DroneCAN) standard (sends mech. RPM) if yo…

but it’s different esc, should I try LUA option?

[xfacta (Shawn)]

I think you install the LUA Datalink driver then set the number of poles to 28

libraries/AP_Scripting/drivers/Hobbywing_DataLink.md

EDIT: no maybe not…

This is the only config info I can find, and there’s no RPM scaling or number of poles

Hobbywing DroneCAN ESC — Copter documentation

See if you can catch up with @tridge in Discord or he might be able to offer some insight here.

[mike_tk (Mike)]

I don’t have datalink, motors connected directly to can bus of h743.

I tried to set INS_HNTCH_REF to 0.71 but it did not move the target filter frequency