Hey everyone i just started the notch filtering using dynamic FFT method and want help to analyze my logs and also i am attaching my .bin file pls have a look on it and kindly give me the suggestion regarding what to do next.
Regards Boss Hijam
Why? The tune on this craft is not in any shape to configure the Notch filter. You still have some pre-first flight parameters at default. There is a mechanical Yaw bias clearly shown on the RC outputs and some large oscillation. You can review this log for yourself by graphing these fields:
I don’t understand your fixation with the Notch filter. Your very 1st post was about configuring that and the craft had not even left the ground. There are fundamentals to get right before that can be properly configured. Have you given up on the Methodic Configurator?
Sir the craft is lefting and the thing is that in stablize mode the craft just drift on the right side pretty often and sir if I’m not wrong then it’s all about incorrect pid configuration right?
So in order to tuning pid’s I need to minimise the gyro’s and acc noise that’s why sir I’m trying to do this.
Sir with all due respect if any of the above statement are incorrect then please let me know me.
And sir can u please tell me which parameters are in default values cuz there are many of those which overwhelmed me a lot.
How to reduced the machanical yaw bias.
Regards Boss Hijam
It is normal for the aircraft to drift in all directions in stabilize mode.
ALT_HOLD mode only stabilizes altitude, it is normal and expected to drift horizontally.
You need to just follow the steps, without being creative and skipping stuff just because you do not understand them.
Do all the steps. Why did you skipped the non-optional step 11?
Understanding the steps does help, but doing them helps even more.
This forum contains lot’s of posts explaining “Yaw bias” and how to fix it.
Exactly which ones overwhelmed you? Be specific. Only then can we help!
Here is a chance for you to take some initiative, learn something useful and figure this out for yourself. Open the log in Mission Planner and check the “show parameters” box. In that screen page down to the ATC_ACCEL parameters. It shows the values you have and the default value. Do the same for the MOT_SPIN and the PSC_ACCZ_P/I parameters.
And with respect to the Yaw bias do as @amilcarlucas suggested and search the forum. This problem occurs all the time and must be fixed. I included the graph above so you can reproduce it and determine for yourself if the fixes you are trying are working or not.
@dkemxr even simpler than using mission planner is to use AMC.
On AMC default values are presented in light-blue background and non-default values in white background.
If some parameters are displayed in light-blue background, you need to think if that is correct for your vehicle.
I would usually agree but somehow he blew right thru some of the most basic pre-first flight parameters and then landed on configuring the notch filter.
Perhaps a complete read thru of the Arducopter Tuning Process and the AMC instructions and video before attempting further changes would sink in some fundamental principals.
@123BH you probably messed up step 16 by not following the instructions correctly.
Sir I just checked from step 2 itself and I find a problem in step 12. I am attaching the photo and zip file.
Pls tell me regarding this parameters with red colour.
Tell you again you mean?
What was the answer in this post?
How many IMU’s?
sir extremely sorry for my action i really forget that I put a post regrading this.
You keep forgetting stuff. Please fill the “reason why this parameter changed field” for each parameter that you change from it’s default. Your future self will thank you, and we will thank you as well.
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Exactly sir actually I didn’t get much idea regarding this values earlier so I uploaded the default values.
I would suggest you start over from default. The parameters are a bit of a mess and IMO it would be easier to reset them and try again from the top. That will get rid of the redundant Battery Monitor you have configured, the Notch filters that are misconfigured and the Rate PID’s which were probably set based on no review of a flight log. I don’t know why you are set on a Dynamic FFT notch. With the hardware you have I would use a throttle based notch only. But, just forget about the notch filter until you have the Yaw bias fixed.
But, you are working in the AMC so whatever @amilcarlucas thinks is the right way forward.
Please skip step 16 then!
If you do not understand step 16, skip it.