I am trying to build kind of a medium/long range FPV racing drone but I want to use Ardupilot as flight firmware. My goal is make something that can fly autonomously and also by flown in Acro mode like racing drones using Betaflight.
I am using a 4in1 Tmotor f45 ESC with Tmotor F80 2500 KV and 6 inches blades.
I made the preliminary configuration going to the charts and putting 6 inches in the graphs so I get the correct values to change the parameters.
However I could not make the drone to fly correctly in position hold nor altitude hold modes, and even in stabilized mode if i am not super gentle with the throttle stick the drone may flip and crash.
I am sure I will have to configure more things to make it fly properly.
Thanks for your fast reply. No I don’t have a log, I should have put an SD card inside the SD card slot. I went thru the guide and did all the PID Controller Initial Setup. That was enough in my bigger builds.
Finally I got some time for this project. It happened again. In the middle of the air, suddenly the drone does a unwanted flip. If the drone is flying high, it may recover, if not, it crashes.
I was taking a look into the logs, and I already saw an error: motor interlock.
I am not very good analyzing flight logs, I hope I could get some help to learn how to do it better. Find attached the files.
I am using 2 GPS and GPS blend, when I see the GPS tab I see only 1 GPS line, I am not sure if both are working fine and what I can see is the line of the GPS blending or if only GPS1 is working.2021-03-12 12-48-34.bin (362.2 KB) 2021-03-12 12-48-34.log (677.1 KB)
De-sync maybe - one of your outputs goes to max when it happens. Also looks like your drone is overpowered as the motors are constantly hitting their bottom limits
The drone is totally overpowered. It is a racing drone. I am trying to use it with ardupilot because I am really interested in the autonomous side as well.
This is going to be a challenge to tune. There is a lot going in this graph but some observations:
As @andyp1per says you are bouncing off the motor bottom limits with almost no throttle. The Motor outputs drop to almost zero (~1100us) and it Rolls over due to lack of stability. It would be interesting to know what your MOT_THST_HOVER value is but it hasn’t flown enough to capture that. But it will be very low.
Yes it is. I am using the standard protocol, since it always worked for me in the bigger drones. I will switch to Dshot. There will be much difference??
I increased the minimum throttle and replace the props by 5 inches (to underpower the drone a bit) and now it flies OK. However I will need to adjust the PIDS a little bit to make it fly smooth. I will try auto tune mode.