Hello everyone, I’d like to know if anyone can help me with my CTUN.Dalt value problem. It suddenly increases despite a thrust command that reduces it. This happens randomly, sometimes, when I’m already in altHold mode. When I go above 1500 (md thr), the desired ctun.dalt value keeps increasing (even if the thrust command returns to 1000), and doesn’t stop until I switch back to stabilized mode.
Thank you in advance for your help.
Is this a newer drone? I ask because typically c.tun will increase or decrease to find hover throttle,.
Log? More words
Hell Joshua, yes, here they are. i just got some new informations after some look : just before dtun.dalt increase, uav had a lost of gps connection. I thought that althod was only taken into account baro values for altitude ? i do not think any failsafe will make it increase altitude then.
for informations, i’m working only on purpose with ekf2, and altitude is baro source only.
thanks a lot for your help
in althold when you have to have rc_3 or throtle on mid to keep altitude, as you can see the moment you hit 1600 it goes up so everytheng under 1400 goes down, 1400-1600 is hold and 1600+ is going up. you can adjust the threshhold but i belive the default is the values above
yes i agree, but it should go down as soon as rc3 is 1000… and i was still going up, without stopping at all. i had to change mode to stop it
that may be the psc_accz_p and psc_accz_i parametars are wrong, and it seams like you have a powerfull drone but your parametars are too high and reversed
i tried to modify them several times. i really think the observated increase is linked to the loss of gps/dead recogning, but it should be only on baro altitude
If it is repeatable, then enable LOG_DISARMED=1 and LOG_REPLAY=1 and do a short flight to repeat the behavior, then post that (and turn them off when you’re done)
The motor MOT_SPIN_MIN and MOT_SPIN_ARM are still at defaults. You should check them with MP and set them.
Also,
PSC_ACCZ_P, 0.19
PSC_ACCZ_I, 0.38
(As pointed out these are set wrong currently and backwards from defaults. I have seen in the past where this will cause a rapid climb)