Today I was able to get my rebuilt Hexsoon TD-650 back in the air after a rebuild.
I’m using a Holybro Pixhawk 6C Mini - the first time I’ve used this flight controller on a copter this large.
And I have the flight controller 7cm forward of the bottom-plate center in order to accommodate the 4-in-1 ESC that is in the center. This is the first time I’ve placed a flight controller off center.
I set the INS_POS1_X to 0.07 to account for the flight controller placement. I didn’t see any other parameters that needed to be set - but I’d like a second opinion in case I missed something.
Here’s the flight log from the 2nd flight - after MAGFIT adjustments, and the “after the first flight” settings proscribed on the Mission Planner initial setup routine.
I haven’t yet set up a notch filter or done any tuning. I’ll start on that tomorrow. I’ll probably upgrade to BDSHOT firmware and use RPM based notch filter.
The vibes are below 30 - but still too high.
The RCOUT for the motors are fairly consistent. The Hexsoon frames with the teardrop arms tend to have an alignment problem necessitation the copter to counter a yaw moment.
The PID’s are going to need work.
Thanks for any advice or comments!