Big Quad (Hobbywing X9) is not disarming after AUTO landing

ArduCopter Copter 4.2
1

After landing drone is not disarming, after switching RTL drone flipped on ground and crashed props…

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From log i see that drone is landed, but not disarmed. Is there any way to fix that?
Log here:
http://files.dangerd.org/pub/tmp/2_5317033374869624747.bin

2

Check your flight modes, right at the end you switch to Autotune, that wont end well.
Set a 3 position switch to Stabilise, AltHold and Loiter. If you have any issue switch to Stabilise and take manual control (be aware of the throttle stick position!)
Put any other flight modes or functions (Such as RTL, Land, Autotune) on other 2 position switches.

I think vibrations are the main contributor to your landing detection issue, you can see it in the vibe data the Z axis is high.
As another indicator you can see on the map the GPS position (Blue) and and the IMU position (Red) rarely align - and your GPS data looks good too.
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Tuning can be better too.
Roll tuning is better than Pitch tuning - you might want to put the same PIDs into Pitch params as you have in Roll.
Set up the Harmonic Notch filter (in a few test flights) then run Autotune.
HNOTCH phase 1
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,0

  • hover test >1 minute, check FFT

HNOTCH phase 2
INS_HNTCH_ENABLE,1 ← set this then refresh params to see the rest
INS_HNTCH_MODE,1
INS_HNTCH_REF, hover_thrust
INS_HNTCH_FREQ, peak freq from FFT
INS_HNTCH_BW, peak_freq / 2
INS_HNTCH_ATT,40
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,2

  • hover & dynamic test >1 minute, check FFT results

HNOTCH phase 3
INS_LOG_BAT_MASK,0
INS_LOG_BAT_OPT,0

  • no extra logging, assumes HNOTCH is working great

provide .bin log files if you need help with any of that.

Please set the BATT_FS parameters.

1 Like
3

I can’t figure out where i can find FFT value, here’s the log with NS_LOG_BAT_MASK,1
http://files.dangerd.org/pub/log/00000026.BIN

4

Hello,
You must FFT_ENABLE to 1 first.
Then after flight in log root you will see FTN1 and yo can see there PkAvg and BwAvg.
INS_HNTCH_FREQ, peak freq from PkAvg and INS_HNTCH_BW, peak_freq / 2 from BwAvg

5

Start with these:

INS_HNTCH_ENABLE,1 ← set this then refresh params to see the rest
INS_HNTCH_MODE,1
INS_HNTCH_REF,0.22
INS_HNTCH_FREQ,60
INS_HNTCH_BW,30
INS_HNTCH_ATT,40
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,0

But your Z axis vibrations are still a bit high, check that flight controller damping is good enough in all directions, and wiring is not flapping around or pulled tight against the FC