I was flying my drone in loiter and suddenly its motor stopped and it crashed.
I have attached the log file. help me and guide me where i am going wrong.
RCout3 - Motor2 is commanded to maximum. This means it has lost thrust due to ESC desync or failure, or the prop is loose on the motor shaft.
Also look for electrical issues like a power wire to the ESC with melted solder, or bullet connectors in the motor wires (this is a common failure point).
yes right the one of the wires in the motor was damaged. thank you very much for your feed back. also if possible can you check the tune and also suggest notches and recommended tune if possible.
There’s some defaults so you probably need to run Autotune, but work through all this first.
Set these:
BATT_FS_CRT_ACT,1
BATT_FS_LOW_ACT,2
LOG_BITMASK,180222
PILOT_THR_BHV,7
SERVO_BLH_MASK,0
SERVO_BLH_OTYPE,0
SERVO_DSHOT_RATE,0
You dont need those additional _BLH_ parameters you had set.
You have DSHOT600 set, which seems to be working but there’s no ESC data. You probably need to install the bidirectional DSHOT firmware for your board. You need to set this additional parameter:
SERVO_BLH_BDMASK,15
and make sure SERVO_BLH_POLES is correct.
If you can get the ESC data in logs, then these notch filter settings will work:
INS_HNTCH_ENABLE,1 // write then refresh params to see the rest
INS_HNTCH_ATT,30
INS_HNTCH_BW,10
INS_HNTCH_FM_RAT,1
INS_HNTCH_FREQ,50
INS_HNTCH_HMNCS,1
INS_HNTCH_MODE,3
INS_HNTCH_OPTS,2
INS_HNTCH_REF,1
Once verified working you can set:
INS_LOG_BAT_MASK,0
INS_LOG_BAT_OPT,0
And you can run Autotune !
I don’t believe my ESC supports telemetry. Could you please guide me on how to properly configure the notch filter without telemetry data?
Additionally, during takeoff in AltHold or Loiter mode, the drone exhibits oscillations and vibrations for approximately 50–60 seconds before stabilizing. Once stabilized, it flies reasonably well, though not perfectly.
Your ESCs will probably do bdshot if you load the bluejay firmware on them and install the bdshot firmware on the flight controller.
Use these settings for throttle-based notch:
You have a few noise peaks, but not much is getting past the Gyro low-pass filter. I’ve selected conservative values here to provide good filtering without causing issues for the PIDs. If you go with more aggressive settings and more options the PIDs and stability will be affected.
You should be able to turn off the extra logging that tracks noise:
INS_LOG_BAT_MASK,0
INS_LOG_BAT_OPT,0
INS_RAW_LOG_OPT,0