Building a 5in hexacopter, I am working through the online filter tool and I havent seen anything like this. maybe it’s just me. The flight controller is a cube orange +
Do these settings look about right?
One thing that is throwing me off is the IMU SPEC section is blank…
The log file won’t open for me in MavExplorer or the filter review tool.
Dave seems to have set me in the correct direction see the post below.
Trying or the browser isn’t the problem. Logging the data so we can review it in the Filter Review Tool is.
Do this.
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,4
Dave I changed those settings. will do another flight tomorrow.
Looks like you did an Auto Tune on this craft and it’s not bad. Get a notch configured and re-run it and you may be in good shape.
Out of curiosity what ESC’s do you have?
Tekko am32 45amp by holybro.
I am not real good at setting the filters.
I’ve been watching this video by Chris and it’s helping.
OK, thanks for the info. You should not need these parameters but with AM32 there are still some unknowns.
SERVO_BLH_MASK,16128
SERVO_BLH_OTYPE,6
And just set this SERVO_BLH_AUTO,1
If you are inclined to try it disable these (0) and see if you still have ESC telemetry in the log. Up to you though as it’s working nicely now.
Well, he knows what he’s talking about! One of the best Youtube series for Ardupilot.
It’s been a game changer for understanding it for me.
The series should be at the top of the forums so the devs can just point people to it.
Now if we could get him to do a video on the methodic configurator.
Set INS_LOG_BAT_OPT,4 and the Log bitmask to default + Fast harmonic Logging.
@dkemxr that worked. If you get a min would you take a look at the file and see what your thoughts are with filtering?
This is what I am thinking but would like a 2nd opinion.
You have ESC RPM so use that. This looks pretty good:
It leaves a couple small modes ~60Hz but it may not be worth applying a static notch to fix it. Try this and review it after a flight.
I agree with @dkemxr, I was just playing with some filters and came up pretty similar. Try the settings he gave you and maybe give it a bit more dynamic of a flight. Don’t go crazy because you’re not tuned yet, but some pitch, roll, bit of throttle. If those ~60hz bumps are still in the log you might want to look at things on the frame. Maybe you have a VTX antenna that is wobbling or something like that.
That’s a good observation. The fact they are X&Y would support that I think.
@dkemxr @Allister
INS_HNTCH_ATT
If I set this to 20db vs the 40db it doesn’t change the estimated post filter. Should I go with just the 20db to prevent lag? Just trying to learn. @Allister good catch, its a Kahuna (I really love the Kahuna, I got way better range than I expected) wifi telemetry antenna, it is just temp mounted on the copter while I tune it and get the amp meter calibrated.
You could try 20, but it probably won’t change that much. I wouldn’t worry too much yet.
See if you can make that antenna more secure, that will probably help more.
I removed the unit for now until I get the filter tuned properly.
I understand your idea, but it may not be the best choice. If you plan to run with that antenna and other gear it might be good to have it on and set up so you can make sure your filtering is addressing it. Better to get it mounted properly now and filters set accordingly, than to set the filters then introduce noise later on.
