Hello again,
I have a problem while flying in Alt-Hold without GPS (using downward facing TOF sensor).
I think my PID parameters are OK (not perfect but working), and I see that the ATT.Pitch/DesPitch (and Roll) values are consistant.
The funny thing is the AHR2.Roll/Pitch. They seem to drift, and the drone is also drifting.
It looks like this:
Is this behaviour normal?
what can I do to stop the drifting?
Thanks,
Martin
Alt Hold flight mode doesn’t “lock” your position in the xy plan, so wind can make your drone drift considering roll and pitch axes. In order to reduce this drift, you can install a GPS and try Loiter Flight mode.
Alt Hold flight mode doesn’t “lock” your position in the xy plan, so wind can make your drone drift considering roll and pitch axes. In order to reduce this drift, you can install a GPS and try Loiter Flight mode.
Thanks for the reply. I’m not talking about a random drift that can occur as a result of winds or randomly,
my drift is intense, about 3-5 degrees on the roll axis, and i can clearly see the copter tilting when my sticks are completely centered with no trims.
Can this happen if i have a faulty IMU?
how do you recommend I test this?
You probably have calibrated your sernsors on a not quite level surface, or the FC is mounted at a bit of an angle. Either way, you can correct this by adjusting AHRS_TRIM. Be careful, this value is in radians and not degrees!
You can also use the Save Trim or Auto Trim feature described here to achieve the same thing: AutoTrim — Copter documentation
I don’t believe its trims, because in most of the flights at the start the drone is stable, and after I do some sharp maneuvers the trims suddenly change…
i dont know what feature can alter trims mid flight, but thats how it looks like
If something changes after a sharp maneuver, is it possible, that something on the copter is not tightened properly and mehanically shifts somehow during flight? I´d check that first. On your logs the difference between ATT and AHR2 seem to be more or less consistent throughout the whole flight though…
Hi guys,
It happened again, this time it was really bad.
The beginning of the flight was ok, but in the middle of the flight the drone started to drift badly.
It looked like this:
This is the log file:
https://drive.google.com/file/d/1x-2pxwIA0FTsu6l0vaMgww2YoKw913cw/view?usp=sharing
