Want to Understand a theory, See I am working on a variable CG scenario of a quadcopter, where CG varies -20 to +42 mm depending on the payload considerations from Geometric Centre where pixhawk is mounted. Now my question is 1) how well arducopter will react in this scenario? 2) I have tried to simulate it by fixing CG value with some offset value like 20 mm, 50 mm etc, in simulation it is observed that in ALT_HOLD mode RCOUT variations is quite understandable like if CG is close to front motors their RCOUTs are higher than back motors, but whenever changes to LOITER RCOUTS are oscillating very much like in the image, when started in the LOITER again oscillation persists but when switches to ALT_HOLD frequency reduced but amplitudes of oscillations are same… Why this? We are not clear why this should happen and whether this indicates a potential issue with the real world drone flight as well.!!
It should be able to handle it. But you haven’t given any context to the drone. How big is it for starters? How big is the weight change? Both in terms of the payload weight and the overall weight of the drone.
Likely the tune isn’t correct. Share a .bin log. In this case you might want to share two logs. One with the quad at min weight, and another at max weight. Generally, if a drone is tuned at it’s lightest weight (most responsive) it should be able to deal with higher weights.
Drone is around 10 kg, quadcopter with coaxial set up. Actually here are two aspects 1) CG shift due to movable payload 2) It is basically a tethered one so with height increased load of the tethered wire will increase and CG will be likely shifted in my described range. full stretched wire weight will be 500 gm.
We did the flying in simulations with default tuned values…
