Crash | Quadcopter Turned Upside Down

ArduCopter
1

Hi all,

I have attached two log files. There is only one day between these two flights. Everything is the same (I don’t remember changing anything). However, in the second flight, when the quadcopter was armed, it turned upside down and all the propellers were shattered. This is the first time something like this has happened to the quadcopter. It normally flies very stable. I’m having trouble deciding how to evaluate the logs. Can you help me with this?

First flight (normal flight): Normal Uçuş | 2024-09-21 11-19-46.bin - Google Drive
Second flight (crash): Kırım | 2024-09-22 12-29-07.bin - Google Drive

Thank you

2

There was thrust loss on Motor 2 right at takeoff, Motor 1 dropped to compensate and it rolled over.

RCout
RCout3351×1015 154 KB

You are operating with a lot of default parameters and there is some high frequency oscillation on the outputs and a Yaw bias. The craft needs to be tuned. And you need a Battery Monitor.

RCout before
RCout before3350×1040 258 KB

2 Likes
3

A mixture of 30" and 11" propeller initial parameters.

Prop Size 30 inches
Arducopter 4.2+
ATC_ANG_YAW_P 1.5 Changed parameter name in 4.2, see above
ATC_ACCEL_P_MAX 21800
ATC_ACCEL_R_MAX 21800
ATC_ACCEL_Y_MAX 9000
ATC_RAT_PIT_FLTD 10
ATC_RAT_PIT_FLTE 0
ATC_RAT_PIT_FLTT 10
ATC_RAT_RLL_FLTD 10
ATC_RAT_RLL_FLTE 0
ATC_RAT_RLL_FLTT 10
ATC_RAT_YAW_FLTD 0
ATC_RAT_YAW_FLTE 2
ATC_RAT_YAW_FLTT 10
ATC_THR_MIX_MAN 0.1 Set to 0.5 after test flights
INS_ACCEL_FILTER 10 10 is the new default
INS_GYRO_FILTER 20 Usually dont go below 20
MOT_THST_EXPO 0.77 Uses new formula
MOT_THST_HOVER 0.2 Hover Learn will fix this
Prop Size 11 inches
Arducopter 4.2+
ATC_ANG_YAW_P 4.4 Changed parameter name in 4.2, see above
ATC_ACCEL_P_MAX 107900
ATC_ACCEL_R_MAX 107900
ATC_ACCEL_Y_MAX 26100
ATC_RAT_PIT_FLTD 19.5
ATC_RAT_PIT_FLTE 0
ATC_RAT_PIT_FLTT 19.5
ATC_RAT_RLL_FLTD 19.5
ATC_RAT_RLL_FLTE 0
ATC_RAT_RLL_FLTT 19.5
ATC_RAT_YAW_FLTD 0
ATC_RAT_YAW_FLTE 2
ATC_RAT_YAW_FLTT 19.5
ATC_THR_MIX_MAN 0.1 Set to 0.5 after test flights
INS_ACCEL_FILTER 10 10 is the new default
INS_GYRO_FILTER 39 Usually dont go below 20
MOT_THST_EXPO 0.61 Uses new formula
MOT_THST_HOVER 0.2 Hover Learn will fix this

Did not follow MethodicConfigurator. Danger operation without battery monitoring. The noise had not yet settled. Good to turn ON learning. consider logging each flight separately. If your drone is indeed 30", consider 0.3 loiter brake delay. You need to find out your Motor/ESC PWM supported range and I assume you have done an ESC calibration.

BATT_MONITOR,0
INS_HNTC2_ENABLE,0
INS_HNTCH_ENABLE,0
MOT_HOVER_LEARN,0
MOT_PWM_MAX,2000
MOT_PWM_MIN,1000
MOT_PWM_TYPE,0
LOIT_BRK_DELAY,1
LOG_FILE_DSRMROT,0

Quad CubeOrange Plus experiences high vibration on one Y-axis.

image
image1279×877 28.4 KB

Your RC channels look “noisy”.

image
image1279×877 10.9 KB

image
image1279×877 11.7 KB

1 Like
4

All these parameter changes are safer against typos if done using ArduPilot Methodic Configurator.
Most of them will be done by the configurator correctly and automatically.