My quadcopter is showing an issue with the barometer. I ran an autonomous mission as part of an endurance test for certification. I set the altitude to 120 metres, but the barometer readings exceeded the setpoint, ranging between 120 and 123 metres on the graph.
Additionally, during landing, there’s a variance of 7 to 10 metres in altitude, which appears to be temperature-dependent. In cold conditions, it shows a negative altitude error (e.g., -5 metres), while in hot conditions, it shows a positive altitude error (e.g., +5 metres).
Drone specifications:
Motors: T-Motor Antigravity MN6007-II
ESC: Flame 60A 12S
Flight Controller: CUAV X7+
Power Module: CUAV CAN PMU
RC System: SIYI MK-32 (Transmitter and Receiver)
Frame Configuration: Quad-H
Please help me to sort out this issue…
Also How to find and do a good tuning for these drone parameters
You’re pretty lucky. Default pid tune, and no filters, and this is flying reasonably well. A little bit of work and you’ll have a good machine on your hands. Before you start chasing any baro issues, get the tune sorted out and I think that will help a lot. You’ll probably also improve your endurance testing.
Thank you @Allister for taking the time to reply to me.
Could you please explain the correct procedure for perfect tuning?
We know that ArduPilot is available, but what is the ideal step-by-step tuning process to follow in the field?
Thank you, Mr. @amilcarlucas
In the Methodic Configurator, there are so many parameters. Could you please let me know which ones are specifically important for tuning? Also, how can I perform PID tuning perfectly?
There are many resources available online, but the reason I’m asking you is because you all have strong practical knowledge. That’s why I trust your guidance for tuning my drone.
Please help me understand where to start and how to approach the tuning process.
You start by installing the software, then you use the software instructions for the step that you are doing. All parameters displayed by the software are important.
ArduCopter contains 1200 parameters.
The ArduPilot methodic configurator guides you so that you can correctly configure the approximate 200 parameters that are relevant for you.
If you want a perfect calibration, follow it.
If you are a control engineer with a background in control theory, then it is better to read the 800 wiki webpages and reinvent the wheel just to figure out that the sequence of steps and parameters presented by the configurator are optimal and get the job done.
If you are not an engineer and do not want derive how and why each parameter affects the other parameters, then just use the configurator software. It does not have too many parameters. It has the relevant parameters required to get the job done. Everything that is optional is clearly marked as such. At least in three different ways.
