If you want a longer range Radio go with the RDF900 system. It’s been a proven system with Ardupilot users for years.
RDF900
If you have a Transmitter with a JR Module bay there is this option:
TXMOD V2
With typical Sik radios you will be lucky to get 1km of range. If you do use them buy the 916Mhz units for operation in the US unless you have an Amateur Radio license.
Dave, was able to take a short flight today with the parameters you requested INS_BAT_MASK =1 INS_BAT_OPT = 4
And I removed 1 battery and changed current from 12,000 mah to 6000 mah reducing weight by 1.9lbs.
Looking forward to hearing what the graph shows now.
Thanks\
Rick…
2024-09-03 14-26-10.bin (3.58 MB)
The thrust/weight is OK but you wouldn’t want it any less.
You can set the notch filter but you have a 17Hz mode than can’t be adressed with the filter. Something loose or shaking maybe. Landing gear, GPS mast, something like that
Set these:
Processing: 2024-09-03 14-26-10.bin…
I forgot to mention an anomaly in today’s flight and in previous flight.
The Roll and Pitch controls are operating correctly. They are reacting proportionately and smoothly in both directions forward and aft and port and starboard. But…. Rudder is another story. It seems to be continuing to move past the point of when I stop giving input as LEFT and RIGHT rudder. I almost lost it today when I applied Rudder. Any ideas what that is? I realize that Rudder input is a little more complex than just rolling and pitching. What am I not seeing here Dave?
Thanks.
Rick…
P.s. if I’m reading this right, pitch and roll are done by controlling thrust. but Yaw uses torque to turn left or right? Am I on target here?
Dave. After setting these Notch filter settings, so I fly the AutoTune function?
You can try it but I would only do one axis and see if it completes and then review the PID’s for a sanity check.
After the development team introduced quiktune, the suggested approach appeared to me is quiktune → Autotune → quiktune.
I achieved reasonably good flying UA with low noise and vibration with only quiktune done, just no urgency for me to do Autotune and follow by another quiktune. Of course, both tunes are done with low wind conditions.
Is good to review some Autotune videos from other users, so for the beginner pilot, you are aware of what is going to happen during Autotune, how to react and take back the UA control for an emergency, especially Autotune with position hold (yaw and nose facing pilot).
Dave, I got this extremely long list of instructions from Jai Gay. Kinda overwhelmed. I felt that I was so close, in finishing the autotune process that now it seems I have a really long way to go with this new long list of instructions with this quick tune thing. Can you clarify for me? Did you catch the issue I am having with Yaw control? Rudder acting very very strange. Also, it seems that they’re has been some. Software updates to Ardu copter. After proceeding so far with the present version, do I now update the Mission Planner in the middle of my process?
Signed,
Confused……
Rick…
Dave, I appreciate any help from anyone that can help me get my project to completion. I’ve been working with you with my particular issues a step at a time and slowly making headway. Now i get a dissertation on a new process that seems overwhelming to me. It’s like I have to start from scratch again,
I’m not understanding why I have to change gears mid stream and begin this new complex process when I a flying the device. Dave, can you please explain what I am being told to do next?
Rick…
P.S. Dave. You might have missed a comment I made regarding the Rudder control (Yaw) issue I am having. I have decided not to fly the quad any more until I get the over correcting movement of the rudder more under control. The last 3 flights have been nerve racking for me due to the erratic behavior of the quad whenever rudder is applied and have almost destroyed the drone in the process . Auto Tune nor anything will be useful to me if I crash. Since this project is the results of an initial crash of a $8400.00 DJI drone, I am at the financial point of no return with this project. If you would Dave, could you give me some insight as to this rudder error I am experiencing? How can 2 of the 3 axis work absolutely perfect and the third is all out of the wack? I don’t get it.
Thank you,
Rick…
What Dave mentioned you have not done yet. the entire process is mentioned here.
IMU temperature calibration
Notch filters setup
Third flight: MagFit
INS_HNTC2_ENABLE,0
INS_HNTCH_ENABLE,0
INS_TCAL1_ENABLE,0
INS_TCAL2_ENABLE,0
INS_TCAL3_ENABLE,0
if me, I will make the following changes and go for another short Althold hover flight, check vibration, and configure the Harmonic Notch filter to reduce noise and vibration. I would use the external GPS as the primary compass. I usually would also like to slow down the vehicle for the initial phase.
ATC_ACCEL_P_MAX,78000 # 15" propeller
ATC_ACCEL_R_MAX,78000
ATC_ACCEL_Y_MAX,22500
ATC_ANG_YAW_P,3.8 # Uses new formula
ATC_RAT_PIT_FLTD,15
ATC_RAT_PIT_FLTE,0
ATC_RAT_PIT_FLTT,15
ATC_RAT_RLL_FLTD,15
ATC_RAT_RLL_FLTE,0
ATC_RAT_RLL_FLTT,15
ATC_RAT_YAW_FLTD,0
ATC_RAT_YAW_FLTE,2
ATC_RAT_YAW_FLTT,15
ATC_THR_MIX_MAN,0.5 # Thrust hover learn, done
COMPASS_USE2,1 # use external + built-in
GPS_TYPE,2 # u-blox M9N/M10, External as primary
INS_ACCEL_FILTER,10 # 10 is the new default
INS_GYRO_FILTER,30
INS_LOG_BAT_MASK,3 # See both b4 and after
INS_USE3,0 # Pixhawk 6C only got 2 IMUs
LOG_FILE_DSRMROT, 1 # Stop logging to current file on disarm
LOIT_BRK_DELAY,0.3
LOIT_SPEED,250 # slow down, increase or put back later
MOT_THST_EXPO,0.66 # Uses new formula
MOT_THST_HOVER,0.35
PILOT_ACCEL_Z,150 # slow down, increase or put back later
PILOT_SPEED_DN,75 # slow down, increase or put back later
PILOT_SPEED_UP,75 # slow down, increase or put back later
PILOT_Y_RATE,22.5 # slow down, increase or put back later
PSC_ACCZ_I,0.7 # x2 of MOT_THST_HOVER
PSC_ACCZ_P,0.35 # = MOT_THST_HOVER
If both noise and vibration are low, I will go for a small pitch and roll movement Loiter flight. followed by slowly increasing pitch and roll to check oscillation. if okay, I will go for a quiktune which will be completed within a few minutes.
Then save the tuned value and go for a Loiter more movement flight check before Autotune. After that, if needed, I can go for another quiktune to check the value and the flying different.
Thank you. Its just getting a little frustrating for a 70 year old man.
But perseverance and dedication will get me through this along with your help. Thank you for your patience and dedication to helping.
Rick…
Understood, that’s why I feel it may not be the cup of tea suitable for you.
could it be due to this setting?
COMPASS_ORIENT,6 # 6 Yaw270, due to this?? double-check.
I have checked the parameters for this option and it is as you have shown in your example. COMPASS_ORIENT,6 YAW 270. So what do I change it to to correct my YAW drifting problem?
Rick…
You can try this (COMPASS_AUTO_ROT), I always do the same physical heading mounting with the flight controller unit, that is
AHRS_ORIENTATION,0
COMPASS_ORIENT,0
[Edit]
Remember to redo the compass calibration. I am assuming your Accel calibration is healthy from previous cal.
I am not sure how bad is your untune yaw drift. maybe it will be resolved by itself after a yaw quiktune after a low noise and vibration drone is achieved.
Thank you for your quick reply. I have made those changes and am waiting for a good weather day to try and test the changes.
On another note, I get a message window in Mission Planner that there is an update 4.5.6. When I go to HELP and try to upgrade despite the message that says new firmware, when I click CHECK FOR NEW FORMWARE it says non is available.
Can you help me with this issue?
Thanks.
Rick…
HOMELAND SECURITY
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i think you need to use 4.5.6, the release note mentioned your Pixhawk 6C.
here are the steps.
If you face USB driver issue, refer to this doc.
drivers are located under window installation directory, example. C:\Program Files (x86)\Mission Planner\Drivers
or download driver.msi here.
Thank you for the instructions. However, I am confused regarding the update method you described for update 4.5.6. Won’t the installation of the software wipe out all of the work and mods we have been doing for the last 5 months?
To me it’s a scary thing to do I would hate to loose all of the work that has been accomplished up now.
Please clarify how to get the new update into my system.
Thank you.
Rick…
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