My VTOL is flying away, pitching backwards in QLoiter.
It had been quite stable in QLoiter before I had a crash in QRTL when I added my pusher prop for the first time. Then, it just went flying backwards then as well. Prop and motor spin were correct.
I’ve looked at the mag field levels (attached) and the overall measure spikes over 20% on takeoff and stays almost 20% elevated during hover. I’m using an external compass on a GPS module mounted 50mm above an 8Ah LIPO that draws close to 30A in hover.
I’ve done the following to lower mag interference
rewired and pushed motor wires further from the GPS and FC
moved the battery lead away from the GPS cables, now about 60mm apart
recalibrated the compass in Mission Planner twice in strict mode away from interference sources
Is this still likely a magnetic interference issue?
I’ve changed my build to now mount the M10 GPS/compass on a mast and compass interference seems to have been minimized.
But today, it hovered well for 20 seconds then just started pitching forwards. Could it be an issue with tying my foamie Armin Wings down with rubber bands to the fuselage. Perhaps the rubber bands are not rigid enough and/or damping the FC’s ability to have enough pitch authority in hover.
This screenshot from my QLoiter today shows
rate.PDes going down
then rate.P turns negative
then PIDP.Err turns negative
and finally I see the VTOL pitching forward and I start to correct with my Tx
Are these rate.P values between -11 and 9 reasonable? What are the units they are measured in?
Wondering if a rubber banded Armin wing setup just does not work for VTOLs.
