I have an issue with the 10L agricultural drone on a EFT frame running Hobbywing x6+. The motors get unbelievably hot after a few minutes of flight time. The ambient temperature was around 38 degree celsius but I don’t think it explains the issue. We have performed filter tune and autotune on the drone and it flies pretty stable with full load.
The roll rate gains were pretty high after autotune and I’ve tried reducing it by 25% but it doesn’t seem to help. I’ve checked for vibrations and gyro noise and they don’t seem to be significant either. I’m completely lost now. I’ll post a log below of a spray flight we did today. Any help is appreciated.
P.S. - Log file is around 66Mb so I’ll upload it to google drive.
Thank you for the reply. I had a look at the RATE.*OUT values and the roll and pitch seems to be within >0.15 for the most part. The motor output seems to be reasonable in my opinion for a pitch forward flight. I have a dynamic payload so I set the ACCZ P & I values around the empty payload thrust hover value.
Do I need to have PID and fast logging enabled to figure out which term is causing oscillations? Will it help if I reduce all of them by 50%? My Roll gains were pretty high (0.25 P and 0.012 D) after autotune and I’m not sure if that is right.
I have reduced POSXY and VELXY parameters by half already just to be safe. I’m not sure what else the issue could be.