Just to understand. With the telemetry wire I also can get the RPM info of the motors. It is worse because that info is not good or it is an estimation or something?
You can connect it to Uart and get telemetry from Escās, but you can free up uart and use bdshot from motors wires and get faster update rate. Are you currently have connected esc telem wire to any Uart port?
Also disable Ins_hntch2. You have FFT on first and on Second RPM telemetry. Dont fly like that
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OK, letās backup. You need a working RC before worrying about telemetry.
BRD_ALT_CONFIG,0
SERIAL7_PROTOCOL,-1
SERIAL7_OPTIONS,0
Restart the board after making the change.
Does RC work now in Mission Planner (forget about QGC for now)?
Yes I have, but it is disabled from the FC. So it shouldnāt be a problem.
With backup I understand you mean to return to the NO bdshot firmware right?
If so, before I changed to bdshot firmware the RC works perfect. And the last time I tried to use bdshot firmware, when you suggested to me the RC didnāt work neither. And when I returned to the NO bdshot firmware begins to work again.
Tomorrow I will test with that configuration. Now I have not access to the drone. But I expect that without bdshot firmware the RC will work.
We need to find why Rc doesnt work with bdshot firmware, are you using SBUS connection to receiver? You can stay with normal firmware and use FFT insteed of Rpm telemetry but from my experiance rpm notch works best for smaller crafts.
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If you are on Sbus you configure it like this, and when you do update to bdshot you shoud check parameters special brd_alt_config.
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ā¦ā¦
No. Just make those changes.
If you want to revert back to non Bdshot after checking this thatās up to you.
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Nothing guys, my fault, sorry. The receiver robbe r6107sp works only with PPM and at this moment I can not use a different receiver. So, according to Matek using bdshot is not possible to use PPMā¦
I should return to the NO bdshot firmware.
It is not possible to use RPM Telemetry notch filter without BDshot? I read also that combining 2 notchs filters the result may be better (FFT and RPM).
And well, now I think the first thing I have to do is callibrate the yaw PID.
Thank you all guys!
Then stay with normal firmware, never ever use FFT and RPM filters at same timeā¦
Now you can do a hover about 30-60 sec with FFT_ENABLE,1 and INS_LOG_BAT_MASK,1 also INS_LOG_BAT_OPT,4
You can use spare channel on your transmitter to set in flight FFT.
RCX_OPTION,162
take off in AltHold or Loiter activate switch wait for like 30-60 sec, then take switch to low and land and disarm.
After that filter should be set for you automaticly. Then post a .bin file so we can see howās that going.
During the FFT Tuning can I control the quadcopter to not move (Iām in a small room)?
Do that Tuning execute aggressive or some kind of movements?
I assign the FFT Tuning to the only available RC channel which is a wheel so, in the console appear that message according to how much I turn the wheel:
Which level of tuning do I have to use?
Thank you Goran!
Yes you can move your quad but just try to hold it still in place, dont do some crazy stuffs. Just a still hover in place. I just check your log and i see FFT Tune option. Set it on CH7. No that is not AutoTune and will not move your quad around so you are safe to execute it inside.
Rebind that switch on Transmitter to 2 position switch, you need HIGH and LOW for FFT Tune
https://ardupilot.org/copter/docs/common-imu-fft.html
If you didnt do already flight set FFT_WINDOW_SIZE,128
Hi Goran, here it is the log with FFT_WINDOW_SIZE = 128.
Okay leave it like that for now. Next think to do is your Yaw imbalance of motors. Check your COG as i see you dont have round arms so probably your COG is not good. After you fix that you are ready for QuickTune
Edit: and you dont need anymore FFT Tune on switch you can replace that channel with other stuffs if you need or just remove FFT Tune from that switch so you dont actidently switch it
At what you refer with round arms? The frame is symmetric. Maybe due to the conponents the COG is not well alygned. I will take a look on that.
For the QuickTune is supposed that i need loiter mode, but i have not GPS. Can I use that tune?
When i say round arms i mean that motors can be bend on them but that is not your case. You need to fix that COG there is a large difference between motors outputs that will make problems in tuning. Yes you need to be in loiter mode for QuickTune. If you dont have GPS i suggest you go outside and do AutoTune one axis per time. Start with Roll then Pitch then Yaw, and last YawD. After you complete YawD do onother Pitch and Roll tuning at same time.
Edit: things to check before auto tune is you current sensor. Did you calibrate it manualy?
Can be that difference because the two frontal motors are facing down and the rear ones are facing up? At which part of the log did you see that difference?
Another thing is that, vertically, the COG is displaced down to obtain more stability.
Yes we did it manually because we do not have other option. Of course the lectures are not good, in fact are overrated, because few days ago we flew 13 min and QCG says that we consume about 10Ah, which is more than the real capacity of the battery (9Ah). We should take a look at it.
Can do the Autotune with the aggressive parameter at minimum or it is not going to tune properly?
Thanks Goran!!