I am building a ducted quadcopter.
The frame is shendrone insider
But tuning is difficult. YAW slips during flight. In the worst case the fuselage will rotate 180 degrees.
It works well when flying with the ducts removed.
Attached are the logs with_duct and without_ducts.
Both are flying the same flight path in auto flight.
With duct yaw spin
Without duct no spin
Please let me know how to tune it.
Start by connecting to MissionPlanner, Setup / Mandatory / Initial Parameters
Put in your prop size and battery cells, accept everything it offers including the suggested settings.
Try these Compass setting and see if that helps:
It was a bit tricky to get magfit to work without a GPS - supply your actual latitude and longitude and I cna run it again.
Keep a copy of your original settings in case you need to put them back, but we can always extract them from a .bin log.
Once the yaw is under control you could run Autotune.
I use 4inch and 4cell, 2300kv motor.
Indoor use only.
Real sense T265 for localization.
Thank you for your helping.
I’m wondering if one or more of the ducts are too close to the prop tips causing an issue for yaw authority??
Cant hurt to fine tune the compass though, I’d need your real lat and long
Thank you for your reply.
I am using realsense t265 for EK3_SECx_YAW in indoor and do not use a compass.
This problem is solved by removing the duct. Therefore, I don’t think the compass is relevant.
Yeah it seems related to a physical problem between the props and ducts, and there’s not enough yaw authority to overcome the negative affect.