We have an 18-kilogram 22-inch X8 helicopter.
Cube Orange has 4.1.5 installed.
Motor: Tmotor P60 / 170 kv
ESC: Timotor Flame 60A
Battery: 2x6S 16Ah Serial
The recommended parameter values have been adjusted according to all tuning procedures.
For “MOT_THST_EXPO”, 0.4 looks better than 0.2.
I modified my PID in various ways
“Auto Tune: Failing to level, please tune manually”
Auto-tune does not proceed.
If there is no problem with the parameters, should we suspect a hardware problem?
Here’s my log and the latest parameter values.
Dynamic notch filter configured?
Thank you for your interest.
I studied and applied it.
Noise has been removed from the graph.
The parameters are as follows:
INS_HNTCH_ATT = 40
INS_HNTCH_ENABLE = 1
INS_HNTCH_MODE = 4
INS_HNTCH_REF = 1
INS_HNTCH_BW = 125
INS_HNTCH_FREQ = 80
FFT_ENABLE = 1
FFT_MINHZ = 60
FFT_MAXHZ = 150
Set these based on a MOT_THST_HOVER value of ~.33
I would set the Auto Tune Aggression back to default.
Thank you @dkemxr .
MOT_THST_HOVER changed to 0.28.
Is it okay to test it by changing it to that value?
Yes, that should be fine.
Thank you Dave, I will test it today, modify it to the appropriate PID, and upload the log again.
I think INS_HNTCH_BW should be about 40, not 125.
You could try AUTOTUNE_AGGR,0.075 too, it might work better with those T-Motor ESCs
These params worked OK as a starting point on a large hex with T-Motors and ESCs
Pick and choose what you want
Thank you, Dr. Shawn
Change INS_HNTCH_BW by 40.
I have a few questions about the starting point.
- It looks lower than the recommended value for the 22" prop, is it an exception for the Coaxial-Rotor?
2)Currently ATC_RAT_X_P looks fine below 0.7. Is adjusting the value below related to increasing the P value?
3)The current ATC_RATE_X_MAX is 0. I wonder why it goes up to 720 instead of 360.
I think I need to study more deeply about such a difficult relationship.
Is there a risk that the plane will crash if we experiment at the starting point above?
If there is no big problem, I will bring the test results within an hour.
Rather than paste it as it is, test it by correcting it as follows:
If the results are good, I will try to make additional corrections.
After completing the flight test, the motor noise was reduced and softened.
However, there still seems to be some problems.
What kind of mege variable should be modified to make a softer sound?
It still feels a little loose, but if you raise the P and I values, it will vibrate just before takeoff from the ground.