Hello guys!
Last month I had a bad crash on my X-frame quadcopter (90 cm frame measured diagonally, Tmotors MN5008 400KV with 17x5.8’’ props and XRotor 50A esc, 5.3 kg total weight, Cube Orange and Herelink for telemetry). After remaking the frame and changing the motors and escs with brand new ones, all my motors (especially the counter clock ones) were getting very hot, melting my ABS printed motor mounts. I didnt change the cube because after a lot of testing it looked to be functioning absolutelly normaly. The quad wasn’t as stable as before and there were times when it tilted slightly diagonaly for a few moments.
I changed the Cube again (not brand new but it was undamaged ) and the problem with motor overheating went away and it worked perfectly. We went to a field for some more tests (grid survey and some payload drop tests). Even tho it was windy it hoverd whithout problem, but i observed a tendency to rotate left on the Yaw axis slowly (there were moments when it stoped rotating but most of the time it wanted to rotate without input from transmitter). I recalibrated the compass and the transmitter but the problem persisted. When doing autonomous missions, the drone didn’t flew head first, and was aprocing the waypoints without carring about the orientation. Comming back from the field, the problem persisted. To fly in straight line I had to constantly compenstate giving right yaw input. I calibrated the accels and the compass many times but it didn’t solve the problem. I even changed the GPS with a brand new Here3+ but no succes.
I changed the autopilot once again with a brand new Cube Orange+ and the rotating problem solved, but the motors were getting hot again just like before, and the drone wasn’t as stable as before.
On all autopilots I copied the same params (from the first one).
Worth mentioning that I’ve transported the drone by the car. The autopilot was always mounted in the vibration dampeing suport, the drone was secured from moving and I was careful to not drive in bumps.
Things I’ve tried:
!!! all motors and props are spining corectly!!!
-compass and accels calibration (many times. compass on standard and strict modes). compass offsets params were ok.
-EKF3 primary lane switch from 0 to 2 (the second cube didn’t like the standard 0 lane and was very unstable untill it auto changed to 2)
-deactivating internall compass of the cube
The PID remained the same as befor the crash (was tuned for this quad and was good)
On logs I see that the autopilot is registering the yaw movement but does nothing to stop it. The yaw impunt from transmitter is neutral.
I don’t beleive it to be a magnetic interference inssue since i have calibrated other aircrafts sucessfully in the same place.
Please give me some ideas to solve this problem. Thanks!