When I had done Tuning with altitude hold mode, my quadcopter war drifting far awayon (100 meter +). Using transmitter I had to keep bringing it closer. Tuning was not finished ever 16 minutes. Battery had run out of charge. That is why I landed the copter.
Now if I perform tuning in PositionHold mode, will there be any problem ? Can the tuning value be Incorrect ?
Thanks in advance
On that version autotune will not deliver correct results in poshold mode.
Please update to ArduCopter 4.6.3, configure the dynamic notch filters and do autotune in Loiter flight mode
Use 4.6.3 version and loiter flight mode and the results will be good.
Thank you sir for replay.
Mine is a Pixhawk-1 flight controller. It won’t run 4.x firmware. So, I have to perform the tuning in ‘altitude hold’ mode, no matter what ?
It will definitely run 4.6.3. Update and follow current documentation to tune.
What Pixhawk1 flight Controller? Post a photo of it. Something from Radiolink maybe?
No sir, it is not Radiolink.
I carefully checked the Pixhawk’s processor and found it to be the STM32F427 VIT6 Revision 3. I flashed it with the AC_4.6.3 firmware. After performing AutoTune in Loiter mode, I switched to a different battery because the previous one had run out of charge. The copter was extremely stable, but it suddenly plummeted in a pond from a height of 35 meters. The battery charge level was adequate. When I lifted it out the water, the main indicator LED was not on lit. FMU B/E and IO B/E LEDs were lit.
I have attached the log file here :
1. https://drive.google.com/file/d/12iP0rU0hng1C5uS81yonXmwpIb2FV5gM/view?usp=sharing
Although the log file mentioned above was supposed to be the final one, this smaller log file below also got saved. I suspect the data from the moment of the crash is in the second file.
Your logfile is locked for me
Sorry, sir. I have unlocked the file, you should be able to see it now.
Did you configured the altitude controller and the notch filters before doing autotune in loiter mode?
No, sir.
I had downloaded my previous param file (the one from before flashing this firmware); should I write that one ?
However, Sir, I don’t understand why my Copter crashed so suddenly.
I’m away from a PC and can not analyze the log now.
Usually vehicles crash because they are incorrectly buit or have an hardware defect.
The single best way to avoid that is
The 2nd log it was not flying.
The 1st log shows logging abruptly ending at ~35m meaning a power loss or brown out to the flight controller leading to the splash down.. Vcc on the controller was at 4.4V minimum so it could be that.It was never above 4.65V. What power module do you have? And again what Flight Controller is this.
This did not succeed. You probably were not in Auto Tune mode when you disarmed. No changes were saved.
Sir, this is Pixhawk 2.4.8 fmuv 3 Flight Controller and power module. I upload this image
However, I have previously used this Pixhawk and power module with AC_3.6.12.
Sir, did the pihawk reboot duo to a sudden voltage drop lasting just few miliseconds ? Can the Pixhawk also reboot duo to CPU overload ?
Now, my Flight Controller is still fully operational, and all the sensors are working properly. Should I downgrade its farmware ?
Yes.
No, Loiter flight mode is superior in many ways.
If there is a big voltage drop, and the 5V power voltages drops, it might reset, yes.
No, high power telemetry modules need a separate BEC power supply. It causes problems when you do not do that.
No.
No, you should configure it correctly using ArduPilot methodic configurator
Like @dkemxr explained above, this has not been configured correctly yet.
Measure the voltage out of that power module. It should provide 5.3v to the Flight Controller.
Sir, the issue was with the power module’s wiring; the wire clips were loose. Consequently, even though the power module’s VCC was supplying 5 volts, the Pixhawk’s VCC pin registered only 4.8 volts. Furthermore, when the drone is airborne—carrying the M10 GPS, Receiver, and 500mW Telemetry—the voltage will drop drastically, causing the Pixhawk to shut down.
Sir, thank you all very very much.
Sir, I hadn’t kept this matter in mind. ESCs provide a 5-volt supply, and the Pixhawk powers up even when connected only to the ESCs, without the power module.
So, why did my Pixhawk reboot?
The connector on my power module was loose. Even if there was a sudden voltage drop in the power module, the Pixhawk should have been able to draw power from the ESCs.
For the same reason already provided. Graph these fields in the log and see for yourself:
POWR>Vcc and Vservo
What ESC’s are they and how have you connected the BEC output from them (one) to the Pixhawk?
The FC does not draw power from the ESCs. The answer marked above as solution, is the solution.
That FC could if he’s connected a BEC to the power rail.
