Can someone check my log

ArduCopter Copter 4.0
14

Batch logging- Set INS_BAT_MASK to 1 to log the 1st IMU which is all you need.
Notch throttle reference: Set INS_HNTCH_REF to your MOT_THRST_HOVER value in your parameter file.
Logging options: Set INS_LOG_BAT_OPT to either 1 or 2 depending on what you are doing. Set to 1 to log sensor rate (pre filter) to determine FFT characteristics for setting the notch frequency and bandwidth. Set it to 2 after you have set these parameters and want to review the result.

When you are done configuring the notch filter turn off batch logging (0) so you don’t log huge files that you are not using the data for.

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15

I think Dave means the board has 2 IMUs and you only need to log 1 or maybe 2.
Set this:
INS_LOG_BAT_MASK,1
If you’re going to dig into the depths then
INS_LOG_BAT_MASK,2 or 3
It depends if IMU 1 or 2 are better or worse with vibrations or you want to log both.

Edit: Dave beat me to it

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16

Set INS_LOG_BAT_MASK, to 1.
Set INS_LOG_BAT_OPT to 1
Set INS_HNTCH_REF to the value for MOT_THST_HOVER,0.2308475

Ok I think I have it. Will implement the changes…thanks guys I super appreciate your input.

17

Yes, that’s right, Then make a simple flight Hovering in AltHold for a minute or so. Then review that log in the FFT analyzer. Or post it here we’ll check it out.

It occurs to me that this probably has nothing to do with your initial post. I got sidetracked looking at the parameter file and re-directed your thread!

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18

Hey Dave.
Any feedback is appreciated. I am more of a hardware guy then a software one. So your support is really appreciated.
Tomorrow I will finish the power changes that Shawn called out…at least changes that may make a difference that remains to be seen at this point.
Also balance if the props…so will get the bird all updated then out to the field to test it out again.

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19

Ricky @rickyg32,

This is what the FFT did for my quad when I followed Dave’s recommendations

PS. Excellent catch with that stabilize, though might have not been needed but you didn’t know that at that time, nice one!

20

Wow thats a big change to the vibrations. I hope to have the same result. I am glad he was able to help

@dkemxr @xfacta
Shawn, Dave thanks again for the input. I have now implemented all the config changes recommended.
I have moved the FC to a new BEC as the current one when I measured the non loaded voltage it was 5 vdc and the new bec is 5.26vdc no load.
I moved all ancillary equipment but the GPS to a separate bec. While there wasn’t a lot. Receiver and the external LED…but I am adding a lidar and they are a huge consumer of current so better its not on the fc.
My logic was that if I loose the fc bec I loose the bird, but if I loose the other bec I at least have an FC and GPS working to bring her home in RTL.
I will look at adding in the redundant power.
I just need to hot glue the connectors…thats later today.
Also I have balanced all the props.What a pain that was…but its done.
I think thats everything…just need to get to the field and do the test.
Thanks all…will report back after the next flight.

21

Here is my config after all the changes that where suggested.
Feel free to spot check it.
I won’t be back to the field for a couple days yet…the boss has me doing stuff around the house. lol
m470l 06-17-2020a.param (17.9 KB)

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22

The notch filter parameters look good for testing Ricky.

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23

thanks man
I appreciate all your help

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24

How do you think it felt? Are you more confident in the aircraft? Genuinely interested to hear. I’ll check the log later.

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25

Hey Shawn.\I didn’t get to go. The boss tasked me with other stuff. Sigh.

But I do have a question. I have a second drone that was built around the same time as the one you have had a look at. I did a side by side comparison on the param’s and see a number of them in the one yo looked at that appear to not exist in the other. I am puzzled as to why.

These are whats missing.
ADSB_ENABLE,0
AVD_ENABLE,0
BCN_ALT,0
BCN_LATITUDE,0
BCN_LONGITUDE,0
BCN_ORIENT_YAW,0
BCN_TYPE,0
FHLD_BRAKE_RATE,8
FHLD_FILT_HZ,5
FHLD_FLOW_MAX,0.6
FHLD_QUAL_MIN,10
FHLD_XY_FILT_HZ,5
FHLD_XY_I,0.3
FHLD_XY_IMAX,3000
FHLD_XY_P,0.2
FOLL_ENABLE,0
GND_PROBE_EXT,0
GRIP_ENABLE,0
NTF_OREO_THEME,0
OA_TYPE,0
RPM_MAX,100000
RPM_MIN,10
RPM_MIN_QUAL,0.5
RPM_PIN,54
RPM_SCALING,1
RPM_TYPE,0
RPM2_PIN,-1
RPM2_SCALING,1
RPM2_TYPE,0
SCR_ENABLE,0
SID_AXIS,0
SPRAY_ENABLE,0
VISO_ORIENT,0
VISO_POS_X,0
VISO_POS_Y,0
VISO_POS_Z,0
VISO_TYPE,0

26

@xfacta
@dkemxr
Here are todays logs.
So I flew two birds and basically follwed the same protocol for each.
Weather was hot and sunny, 24 C wiht a good stiff breeze.

I flew two birds. My M470L which yo both looked at the logs from before, if yo would be so kind as to have a look again. One observation is that at low throttle on the ground I got a weird shake. Didn’t have this last time…
Apart from that she flew fine. However I put it into poshold and found it held altitude very well…lidar helps but she did drift in the wind around a meter or so,

The second machine seems still seems a bit tail heavy… Will have to look into that. She got off the ground nicely…a little bit more throttle then I would have liked. Its carrying a 16000 mah battery that weighs a ton.
I popped it into Poshold and it was a lot more ridgid in it’s hold but also a lot twitchier then the 470. It also flies what I think is sloppy.

Let me know what if anything you see and thanks again.

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27

Hi Ricky-I gave you some bum info with the INS_LOG_BAT_OPTION parameter. At this stage of tuning it should be 0 not 1 as I told you earlier. When I looked at the FFT from the log I wondered why the accel was logging at 4KHz and the Gyro at 8kHz and this explains it. It’s easy enough to scale the graphs to a lower range but I’m not sure the data is valid doing that. @andyp1per would know. For example here is the FFT scaled to 300Hz max. If the data is useable with these rates then you would want to set your notch filter differently than you have it and probably use the Static Notch also.

FFT 1
FFT 11261×479 60.7 KB

So in summary, sorry for the wrong parameter value and I’m not we can use the data from this log to set the notch filters.

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28

The values are valid - just not averaged over multiple samples

29

OK, thanks Andy. Add more characters.

30

A new post now that we know the log data is useable for notch configuration. Try these Ricky:
INS_HNTCH_ATT, 40 (ignore warning about parameter value)
INS_HNTCH_BW,60
INS_HNTCH_FREQ,132
INS_HNTCH_REF,0.211

Static notch:
INS_NOTCH_ENABLE (then refresh parameters)
INS_NOTCH_ATT 20
INS_NOTCH_BW 20
INS_NOTCH_FREQ 70

Then set INS_LOG_OPT to 2 and make another AltHold Hover flight to see how effective the configuration is.

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31

Dave I assume this is for the M470L quad copter. I will make the same change to the hexa as its based on the quad…same frame just two more motors. Also if yo see anything it it let me know.

32

Yes, the M470L but I wouldn’t use the same notch parameters for the M690L the vibe spectrum is different. The notch frequency on that craft would be 150Hz (NS_HNTCH_FREQ,150) . And start by disabling the static notch (INS_NOTCH_ENABLE, 0) it may not be needed. Keep the other parameters for now and again change INS_LOG_OPT to 2 and make anothet hover flight.

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33

So on the M690L set the following
NS_HNTCH_FREQ,150
INS_NOTCH_ENABLE, 0
INS_LOG_OPT,2

On the M470L Set the following
INS_HNTCH_ATT,40
INS_HNTCH_BW,60
INS_HNTCH_FREQ,132
INS_HNTCH_REF,0.211
INS_NOTCH_ENABLE
INS_NOTCH_ATT 20
INS_NOTCH_BW 20
INS_NOTCH_FREQ 70
INS_LOG_OPT,2

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