Jh_Dev
(Anton)
April 5, 2020, 10:25am
1
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
smartdave
(Dave Glover)
April 5, 2020, 4:05pm
2
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
smartdave
(Dave Glover)
April 5, 2020, 4:47pm
3
Nevermind I found Them
Do you have all the new settings? This log has all the default ones
Jh_Dev
(Anton)
April 5, 2020, 5:56pm
4
Hi Dave,
Please find the params file attached. Params_after_autotune_20200404.param (18.1 KB)
smartdave
(Dave Glover)
April 5, 2020, 7:52pm
5
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.
Jh_Dev
(Anton)
April 6, 2020, 11:23am
7
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 ).
Is it the wrong params or I missed the INS_GYRO_FILTER param?
What about other PIDs params, are they significantly different to yours? Would you be so kind to upload your parameters file?
smartdave
(Dave Glover)
April 6, 2020, 3:38pm
8
I will post my params later.
This is the doc you should be following:
https://ardupilot.org/copter/docs/tuning-process-instructions.html
Jh_Dev
(Anton)
April 15, 2020, 9:29pm
9
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?
smartdave
(Dave Glover)
April 16, 2020, 1:08am
10
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?