eVTOL=QLOITER plane moves (slides) little by little and does not

Fighter

I am using eVTOL (2100mm + CAUV Nora + Neo3) made by makefly.

6S12000-16000mAh 17x5.5 propeller

QSTABILIZE = OK (good PID)
QHOVER = OK (good PID)
QLOITER = NG

In QLOITER mode, the plane moves (slides) little by little and does not stay in that position.

I changed the following parameters, but they don’t improve

Q_LOIT_SPEED
Q_LOIT_ACC_MAX
Q_LOIT_ANG_MAX
Q_LOIT_BRK_ACCEL
Q_LOIT_BRK_DELAY
Q_LOIT_BRK_JERK
Q_P_POSXY_P

I want advice for people with the same symptoms

1 Like

Hi Koseki-san, please post the .bin log.

2022-03-01 13-03-45.bin

Download URL

http://dtbn.jp/aKqcichR

https://www.datadeliver.net/receiver/file_box.do?fb=15f1de309dae42dc82eee48499b84e9b&rc=12d77eabb0c3436185c4471bcafa5a79&lang=ja

Thank you.

Hi Koseki-san,

Took a quick look at the log, EKF looks healthy but plane seems to be struggling to keep position in windy condition? For example RCOU.C5, C6 are maxing out. Also noticed QLOITER is not using main motor.

There is a dedicated thread on this Flighter VTOL here, better try the thread to get move in-depth advices?

The plane moves in q_loiter mode, can you post a video? I want to take a closer look at the movement of the plane.

Since the amount of MP4 data is large, I uploaded it to youtube.

Can you browse from China?

#eVTOL - YouTube

Aircraft specifications

4x MAD 5008 400KV
4x FLAME 60A 6-12S
2x 17x5.5 Propeller CW & CCW
1x PMBM4250-500KV
1x LP-ESC-MK3-85A ESC
1x APC15x10 Propeller CW
5x Emax ES3054 Servo
1x CUAV Nara + Neo3Pro
1x Power-Magic-LW 22.2V-12000-16000mAh Li-Po Battery
Total weight: 22.2V-12000mAh = 6350g 22.2V-16000mAh = 6700g