when i am flying my drone in the poshold mode, when i release my rc stick it is drifting even though good satellite count and HDOP and before stopping it is oscillating. So please help me in this to stable my drone
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This is simple to fix. But it will take some work.
Use ArduPilot methodic configurator software to correctly configure and tune your drone, then use loiter flight mode instead of PosHold.
You’ll need to read and follow clear instructions,
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poshold is outdated flight mode.
it holds position when centered stick, becomes althold when not centered.
Loiter, commands velocity.
so, for example, if there is left-right wind, in poshold forward it will drift on roll too.
but, in loiter it will move full straight compensating for wind.
try AMC, as suggest by @amilcarlucas , it is really useful software and easy to use.
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@amilcarlucas thank you for your reply. Ok, I will try this and let you know. But in loiter mode it is fly nice.so issue with mode or any issue in drone parameters and PID tuning
@Ishitbh thank you for your reply. I need to try AMC software and let you know. And your saying poshold mode is outdated and not prefer to use.
How many drones have you configured so far. How many well tuned drones have you flown so far?
Most users on this forum do not know what a well tuned drone feels like.
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if you dont have much previous experience, just run through the AMC, you will have a fully functioning and tuned drone within a few hours even if you do it slowly.
Ensure that vibration is low, notch is configured, and other things like calibration, frame rigidity, motor mounting, etc.
Radio calibration might cause the issue you are facing (might fix, might not).
once all is done, you should run autotune which will ensure quite good tuning
@amilcarlucas i flown small category 10 to 12 drones which is 2 to 3kg payload and now i am working on 10 to 15kg payload drones like agriculture drones. The actual problem is when i am flying drone in loiter mode, it is flying without any oscillation and drifting. That’s why i am asking is this problem with poshold or tunning issue.
ok, i also don’t know how we will say my drone is stable, so please help me in this
Without log file discussion is pointless, we can guess forever.
Your PIDs and filtering does not looks right. Also please use Loiter instead of poshold, it’s outdated.
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set the following:
INS_RAW_LOG_OPT,9
INS_HNTC2_ENAMBLE,0
Do another flight and share the log. I agree with @mike_tk , the filters and PIDs don’t look right. Let’s get the filters sorted first then come back to the PIDs.
Thank you for your reply sir @Allister i changed parameter what you mentioned. here i am attaching my logs.
Those links are asking me to sign in.
Stop using pos-hold. Use loiter. Pos hold is only still in the firmware for historic reasons. Loiter will allow you to tune the stop performance once you have the rest of the drone tuned.
Set:
ATC_THR_MIX_MAN,0.5
PSC_ACCZ_P, 0.2
PSC_ACCZ_I, 0.4
Your PID values are very non-standard/not recomended. I’m not sure how you would have come up with them because neither the wiki or AMC would have got you there. You should consider continuing with the tuning using something like AMC. I’m going to guess by the battery values alone this drone is big enough that you don’t want to risk the tuning.
And the drone is not flying “good”, it’s okay. It’s good enough to continue with the tuning process, but the attitutde control tells me it’s not done.
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Attitude PIDs looks acceptable, maybe a bit too high, apply what Allister suggested, you may try alternatively this filtering, it push LPF higher but I afraid it won’t affect the tune much:
INS_GYRO_FILTER,40
INS_HNTCH_FREQ,50
INS_HNTCH_BW,7
INS_HNTCH_ATT,10
INS_HNTCH_REF,0.25
INS_HNTCH_FM_RAT,0.8
INS_HNTCH_HMNCS,3
INS_HNTCH_OPTS,2
INS_HNTCH_ENABLE,1
INS_HNTCH_MODE,1
INS_HNTC2_ENABLE,0
ATC_THR_MIX_MAN,0.5
PSC_ACCZ_P, 0.2
PSC_ACCZ_I, 0.4
To better review PIDs it’s good to have Fast attitude instead of Medium attitude logging in LOG_BITMASK
Do you still have RC stick release drifting problem?
ok i will try what allister suggested and In Loiter mode drifting less than the POSHOLD but drone is not that much stable. Now i am flying drone in Loiter mode
It will never be stable until you tune it correctly.
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