Hello all. I am fairly new to the custom build world and have built a large drone with 30 inch props. It will be a hybrid drone but for now is just running on battery until it is flying a bit more stable. Max takeoff weight should be about 19kg. Current takeoff weight is about 15kg. Running cube orange, arducopter 4.0.7, Herelink RC, quadcopter.
I have had some vibration issues and balanced props seemed to bring the levels down. They still seem to be a bit high. Wondering if anyone would care to look at the attached .bin files and see if the vibrations are ok for this large of a drone and if there is anything else that could be learned from them?
I have followed all of the tuning instructions found at https://ardupilot.org/copter/docs/tuning-process-instructions.html and do not dare to run this through the autotune. I have been manually tuning and it flies ok in AltHold and responds well to stick movements. However, when I am in loiter mode, the drone will sometimes overcompensate when stopping from pitch or roll movements causing some oscillation with the drone bouncing back and forth fairly severely Generally only happens on full stick deflections. It will have two Here3 gps units but am currently using only one and only the external compass to eliminate variables.
This drone will be used to fly long slow mapping missions (3 to 5 m/s). I do not want it to move aggressively. Any tune or shaping parameters that I should look at will be greatly appreciated.
Thank you everyone for your help. -Justin