Copter crashed after successful autotune

Hi All,

I have successfully completed autotune yesterday, disarmed, than armed again to flight with the new PIDs. Copter was very unstable after take off, wobbles a lot and finally flipped over after landing.

Is it the new PIDs that caused the crash or something else?

Copter Tarot XS690, Cuav v5+, Tarot martin 4008 330kv motors, HOBBYWING PLATINUM Pro-30A opto ESC, 15x5.5 carbon props, 6s 12400mah battery.
Flight log: https://drive.google.com/open?id=1zZKz2VOossSEK6_dvXaZ5S2qltOXdglv

Any help appreciated.

Thanks,
Anton

I have not looked at the logs yet but I have almost that same exact setup except I have the CUAV v5 nano. I just did an autotune yesterday and the copter is rock solid. I will compare your settings to mine

Nevermind I found Them

Do you have all the new settings? This log has all the default ones

Hi Dave,

Please find the params file attached. Params_after_autotune_20200404.param (18.1 KB)

Did you follow the tuning guide to set your initial parameters?

For example you have:

INS_GYRO_FILTER,30

But then you have:

ATC_RAT_PIT_FLTD,10

ATC_RAT_PIT_FLTT,10

ATC_RAT_RLL_FLTD,10

ATC_RAT_RLL_FLTT,10

Where they should have a value of INS_GYRO_FILTER /2

Your values should be:

ATC_RAT_PIT_FLTD,15

ATC_RAT_PIT_FLTT,15

ATC_RAT_RLL_FLTD,15

ATC_RAT_RLL_FLTT,15.

Your values are wildly different from my drone, yes we have the same frame/FC/prop sizes.
Could be the results of initial tuning values being different.

I would go back through the tuning guide and making sure everything is set properly then try an autotune again

Autotune is NOT a magic bluet. You do need to invest some time and make sure the hardware is properly setup and the initial parameters are reasonable. After that autotune works fine.

I put these values according to the manual: “For large copters (with props at least 13inch or 33cm diameter) set the Rate Roll and Pitch filters to 10hz” (https://ardupilot.org/copter/docs/autotune.html?highlight=autotuning).

  1. Is it the wrong params or I missed the INS_GYRO_FILTER param?
  2. What about other PIDs params, are they significantly different to yours? Would you be so kind to upload your parameters file?

I will post my params later.

This is the doc you should be following:

https://ardupilot.org/copter/docs/tuning-process-instructions.html

I have restored the original parameters, adjusted INS_GYRO_FILTER and ATC_RAT_* and tried to fly. Copter became very unstable after successful take off, another hard landing. Log: https://drive.google.com/open?id=1_7n5bVMTd1L6oEMUraFxl8dyXmiE5bjr

Is it cased by some mechanical failure (visually everything is ok) or something else?

First Off I would be very concerned with all these errors

TIME Subsys ECode Description
19:00:30 24 2 EKF PRIMARY: UNKNOWN
19:00:30 16 2 EKF CHECK: EKF CHECK BAD VARIANCE
19:00:30 17 1 EKFINAV FAILSAFE: OCCURED OR FAILED TO INITILIASE
19:00:46 16 0 EKF CHECK: EKF CHECK VARIANCE CLEARED
19:00:46 17 0 EKFINAV FAILSAFE: ERROR RESOLVED/CLEARED
19:03:26 12 1 CRASH CHECK: CHECK CRASH
19:03:26 24 0 EKF PRIMARY: ERROR RESOLVED/CLEARED
19:00:30 24 2 EKF PRIMARY: UNKNOWN
19:00:30 16 2 EKF CHECK: EKF CHECK BAD VARIANCE
19:00:30 17 1 EKFINAV FAILSAFE: OCCURED OR FAILED TO INITILIASE
19:00:46 16 0 EKF CHECK: EKF CHECK VARIANCE CLEARED
19:00:46 17 0 EKFINAV FAILSAFE: ERROR RESOLVED/CLEARED
19:03:26 12 1 CRASH CHECK: CHECK CRASH
19:03:26 24 0 EKF PRIMARY: ERROR RESOLVED/CLEARED
19:00:30 24 2 EKF PRIMARY: UNKNOWN
19:00:30 16 2 EKF CHECK: EKF CHECK BAD VARIANCE
19:00:30 17 1 EKFINAV FAILSAFE: OCCURED OR FAILED TO INITILIASE
19:00:46 16 0 EKF CHECK: EKF CHECK VARIANCE CLEARED
19:00:46 17 0 EKFINAV FAILSAFE: ERROR RESOLVED/CLEARED
19:03:26 12 1 CRASH CHECK: CHECK CRASH
19:03:26 24 0 EKF PRIMARY: ERROR RESOLVED/CLEARED
19:00:30 24 2 EKF PRIMARY: UNKNOWN
19:00:30 16 2 EKF CHECK: EKF CHECK BAD VARIANCE
19:00:30 17 1 EKFINAV FAILSAFE: OCCURED OR FAILED TO INITILIASE
19:00:46 16 0 EKF CHECK: EKF CHECK VARIANCE CLEARED
19:00:46 17 0 EKFINAV FAILSAFE: ERROR RESOLVED/CLEARED
19:03:26 12 1 CRASH CHECK: CHECK CRASH
19:03:26 24 0 EKF PRIMARY: ERROR RESOLVED/CLEARED
19:00:30 24 2 EKF PRIMARY: UNKNOWN
19:00:30 16 2 EKF CHECK: EKF CHECK BAD VARIANCE
19:00:30 17 1 EKFINAV FAILSAFE: OCCURED OR FAILED TO INITILIASE
19:00:46 16 0 EKF CHECK: EKF CHECK VARIANCE CLEARED
19:00:46 17 0 EKFINAV FAILSAFE: ERROR RESOLVED/CLEARED
19:03:26 12 1 CRASH CHECK: CHECK CRASH
19:03:26 24 0 EKF PRIMARY: ERROR RESOLVED/CLEARED
19:00:30 24 2 EKF PRIMARY: UNKNOWN
19:00:30 16 2 EKF CHECK: EKF CHECK BAD VARIANCE
19:00:30 17 1 EKFINAV FAILSAFE: OCCURED OR FAILED TO INITILIASE
19:00:46 16 0 EKF CHECK: EKF CHECK VARIANCE CLEARED
19:00:46 17 0 EKFINAV FAILSAFE: ERROR RESOLVED/CLEARED
19:03:26 12 1 CRASH CHECK: CHECK CRASH
19:03:26 24 0 EKF PRIMARY: ERROR RESOLVED/CLEARED

What is the orientation of your Flight controller

I don’t think I have ever seen all negative numbers

Have you balanced your blades and such?
You have a large amount of motor oscillations

You also have massive vibrations in your craft. How is your flight controller mounted? Are you using an antivibration plate?