Hello Friends,
We are building a quadcopter(V frame) max payload of up to 40kg (for agricultural purposes). We are using hobby wing motors. I have attached the log file link for your reference.
I am facing some stability issues and yaw movement adjusting every turn in auto mode. even in pos hold mode also yaw tries to recorrect continuously. In pos hold mode, after leaving the roll stick copter moved some 0.5-1 meter distance and stopped. instant stopping is needed for my application. In the log, I did multiple auto flights and a few pos hold flights for the yaw movement observations. Kindly help me to find the issue.
Are you sure this is is a FRAME_TYPE V? It’s uncommon and frames that may look like V’s will often fly better on X
Set these back to default:
ATC_RAT_YAW_I,0.04 (.009)
ATC_RAT_YAW_P,0.5 (.09)
Set this back to default:
AUTOTUNE_AGGR,0.05 (0.1)
Set these (you need to configure the dynamic notch filter):
INS_ACCEL_FILTER,10
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,4
Then make a simple flight in AltHold or Loiter and post that log. No auto tune, no auto mission, a simple flight.
Use the loiter which has many parameters to adjust for your application. In loiter, in addition to other parameters, you should set this parameter to 0 to have immediate stop
This needs to be at 4 not 3 as I suggested:
INS_LOG_BAT_OPT
And set AUTOTUNE_AGGR back to default (0.1) as at no time would you want to run this at 0.05.
Then make another hover flight. The goal here is to set the dynamic notch filter so you can then run Auto Tune.
It would be a good idea to use Magfit to produce the Compass calibration offsets and motor compensation Magfit Using MAVExplorer is an easy way to do this.
Hello dave,
Good day
As you suggested I changed the parameters, I did loiter flight for around 2min. Kindly go through it and give feedback. As you said I will try magfil also.
Hello Dave,
I tried MAGFIT and i chnaged compass parameters, but in controller MAGFIELD high error came after changing the parameters, so I calibrate compass again and the error is resolved. Compass values are again changed to old values.
Flight controller: CUBE orange
GPS: HERE 3
OK set these for the Dynamic Notch Filter. It might require a static notch also but let’s see:
INS_HNTCH_ENABLE,1 (then refresh parameters)
INS_HNTCH_ATT,40
INS_HNTCH_BW,36
INS_HNTCH_FM_RAT,1
INS_HNTCH_FREQ,72
INS_HNTCH_HMNCS,3
INS_HNTCH_MODE,1
INS_HNTCH_OPTS,0
INS_HNTCH_REF,0.265
Make another flight.
I have never seen this so perhaps you did something wrong. The log file you use for it must contain a lot of yaw action and if you want motor compensation some throttle action also. Then you need to window the graph so the take-off and landing segments are not shown. It’s all in the video ion the Magfit Wiki page.
Hello dave,
Sorry for the delayed reply.
A few days before, the drone crashed and burnt due to some battery issue. We build a new quad and we are starting trails now. The yaw issue remains the same as the last quad(V frame). But, I am facing another problem now. As I mentioned earlier, ours is hybrid drone, once the engine starts(generator system), a gyro inconsistent error comes. Once the engine shut off the error is not coming. I am using HERE3 GPS as the primary compass.
I need to know:
Is This error because of engine vibration?
Is there any parameters for vibration limitation in the ardupilot?
Does This gyro error come from cube orange or HERE 3 GPS?
Is there any way to avoid the vibration in the GPS and cube?
