We have made a payload quad drone the specs are mentioned below
Motor -x11 plus hobby wing
Prop. 43inch
Battery- LiOn solid state
14s 30000Mah *2
Pixhawk cube
Frame weight - 18kgs
Battery -12 kgs
Payload 20kgs
Mtow - 50kgs
Ps- current sensor reading is wrong
So we have done the initial tuning as explained in arducopter and done till auto tune. ( no payload attracted - takeoff weight =30kgs )
Did few loiter flights and changed some prams for accel brk jerk for our need.
During the loitering I got few errors of ekf3 lane switch
Also I am not sure if the dynamic notch filter prams are set properly or activated .
Requesting team to look in the the log and prams which I am attaching here and let us know if we are in the right direction and what can be done better in terms of vibe , ekf, and auto tune.
Also this quad copter is meant for a payload delivery of 20kgs.
Indicative of these low values I don’t think it’s a good Auto Tune:
ATC_ANG_PIT_P,3.463688
ATC_ANG_RLL_P,4.595429
You can set them to 6 for now.
At the very high thrust/weight you have for a large craft tuning will be a bit challenging.
Also, the Notch filter is not configured correctly. Set these and make a short hover flight in Althold:
Ok will be doing a test flight in next 12 hours shall update the new log file. You want me to put 10kgs payload and then do a auto tune or does the auto tune have to be without any extra weight as mentioned in docs most agile form of drone
we did change the parameters as mentioned above
And then started auto tune. Nill wind condition.
Roll pitch and yaw auto tune was carried out successfully. There after we landed and did a take off in stabilise mode changed to altitude hold mode and played around the roll and pitch movement for the logs and then at the end did a loiter for few seconds for log. All these are without any payload and just the frame and battery load.
File has been put in google drive under Test Flight 2 folder.
Hi
So we did change the parameters as mentioned above
And then started auto tune. Nill wind condition.
Roll pitch and yaw auto tune was carried out successfully. There after we landed and did a take off in stabilise mode changed to altitude hold mode and played around the roll and pitch movement for the logs and then at the end did a loiter for few seconds for log. All these are without any payload and just the frame and battery load.
File has been put in google drive under Test Flight 2 folder.
Need to look at a flight log post Auto Tune, not the Auto Tune log. Do some hovering and some Pitch, Roll and Yaw inputs. Looks like you need to run Magfit for the compass calibration also. For that flight simply do some figure 8’s and some throttle changes. So, 2 log files to generate here.
Pitch is looking pretty good. I would copy the PID’s from Pitch to Roll.
Also, reduce these based on this Input Shaping TOW weight
ATC_ACCEL_P_MAX,43974.74
ATC_ACCEL_R_MAX,35578.32
ATC_ACCEL_Y_MAX,10200.5
And increase these based on MOT_THST_HOVER:
PSC_ACCZ_I
PSC_ACCZ_P