Hi,
I’ve crashed my 18" 5210 6s 5.4kg auw quad while trying to autotune,
imo from the logs that’s some ESC failure because RPM looks strange, but it’s 4in1 can it fail all at once?
Anyone can suggest what’s the cause?
It is possible that your filtering could be the cause, I adjusted your notches based on the flight bin that you provided and below is what configured. Heavy notches and harmonics and make your quad really sluggish, slow to respond. Did you quick tune prior to autotune? I am not a pro but learned a bunch from the Dev team here, maybe they will weigh in. The Idea with filtering is minimun needed, I have one quad that I have zero filters set except the gyro because it has very little vibrations. The filter profile that I used for your quad gets most of it gone. I would reset my filters do a test flight/hover to see if it is working, then I would do a quick tune and see how it is flying then.
Or you can use the methodic config software and it will walk you through the process.
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Well it does NOT look like the failure of any one ESC or motor.
It appears the entire ESC stopped responding, or maybe it’s tiny little connector became dislodged. I secure the ESC connector with hot melt glue. Take it for a ride in the car, that always finds any bad connections 
Temperature does not appear to be a problem.
(I’d like to see JST-GH connectors on 4in1 ESCs, but the small-quad guys want to save a fraction of space and a fraction of a gram - maybe one day…)
Change
INS_HNTCH_FREQ,40
INS_HNTCH_HMNCS,1
+1 for a VTOL QuickTune
Let me know if you need instructions for that.
On second thoughts, here it is:
You need to enable scripting:
SCR_ENABLE,1
Download the script from this link
libraries/AP_Scripting/applets/VTOL-quicktune.lua
There is a Download button near top right
In MissionPlanner, use MavFTP to upload the script into the APM/SCRIPTS directory
Reboot the flight controller then set:
QUIK_ENABLE,1
On your transmitter setup a 2 or 3 position switch on an available RC channel - I just us a 2 position switch. (check the readme if you want to use a 3pos switch - you can still use a 3pos as if it’s a 2pos)
RC6_OPTION,300
If using a 2 position switch set:
QUIK_OPTIONS,1
QUIK_AUTO_SAVE,10
To use it, launch and change to Loiter mode, operate the switch for Quick Tune.
There should not be much movement, and after a while a groundstation would report “Tuning: done”
Wait 10 seconds if using the two position switch, adjusted parameters will be saved. You can put the switch back to normal position and test fly.
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Or use ArduPilot methodic configurator. It will automatically:
- download the lua script from the internet,
- upload it to your vehicle
- enable scripting,
- reboot,
- allow you to change the quicktune parameters including instructions.
- upload the parameters to the vehicle
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Yep, for me it’s also looks like the whole ESC stopped responding - it was looking like disarm - all motors stopped spinning after 3rd autotune wobble. The currents are not big, but the motors are 5210 with 18" props, can it be caused by voltage spike while motor breaking? But all 4 escs?
Are you saying to use “INS_HNTCH_FREQ,40” instead of 57hz because that’s where the noise beg point is?
Still learning…
It didn’t stop responding, 2 of them were in error and down it goes. Why Dshot300? 600 is generally more reliable.
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Good catch, thanks, what actually esc.err measuring?
I’m using cheap 4in1 esc running bluejay 0.21-rc1, it’s stated 70a 12s but not much truth in that, the wires are shortest they can be but still it’s 18". About dshot300/600 I thought that lower speed is more reliable.
Graphs shows that errors on the beginning and than started to appear on autotune start. Can this errors be caused by FC? It’s some matek h743 clone, not original one.
I have an EDT2 enabled, may it give more clue what is happening?
So I’m going to replace the ESC with some other one that is available here, maybe speedybee 55a?
No, you can’t make that blanket statement.
Well that wasn’t wise or didn’t you know?
That’s not 1to1 clone, it just have same components and pins layout, so it can use same firmware.
Can it be just overheating? Looks like the falling ESCs report highest temperature, but flight was very short. The current sensor is calibrated so the actual consumption was like 20a for whole rig, did not expect that such current can overheat esc.
If those temps are correct it’s not hot enough to be “to hot”.
Because 40Hz is about the lowest frequency, and the ESC telemetry option will scale up the harmonic notch frequency and bandwidth as required - but not down.
Gotcha, thank you for that information.
Agree, it’s not close to 80c, but by some reason exactly this 2 esc was hotter and they failed.
But rpm data is still looks strange, only 1 failing esc was reporting rpm that looks like real
@mike_tk that FC picture seams to contain a logo of the Ukranian army.
What is the application of your vehicle?
Flytex - a leading Ukrainian manufacturer of components for unmanned systems
18” crash during Autotune may indicate an ESC failure check motor response and logs for confirmation.
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