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)
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.
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.