Gyro filters for the Quadcopter

ArduCopter
1

Hey everyone

I am trying to filter my gyros and need some help. I have done all the logging settings correctly and please me wht to do next in turns of settings.

Hardware:

FC: PIXHAWK 2.4.8

GPS: Radiolink SE

BAT: 4S Lipo 13000mah

Frame:Custom made

Motor:Pro Range 629 kv

Propeller:13 inch

Log : https://drive.google.com/file/d/1qc3YEmPImia8OnpmRmPrgS-5YjQDtgds/view?usp=drive_link

2

Not much to see in this log. You need to hover for a short time before you can determine anything.
Disable FFT you won’t be using that.
If you don’t know how to proceed from here perhaps you should be using the Methodic Configurator

You need Battery logging.

3

Thank you for the reply sir

4

And GPS is not functioning.

5

Yes sir gps is not connected for now for some reasons.

6

What are those reasons?

7

This is the logs which I got after hovering drone for 4 or 5 secs please have a look.

8

Sir it’s due to the mounting space availability .My drones is kinda small so space is little bit congested but today will be put the gps .

9

4-5 seconds? This log is useless also.You need to be able to fly it to configure and tune it. Do the following:
Install the GPS
Get battery logging functional.
Use the Methodic Configurator linked above and start with resetting to default.

10

Sir how long should I fly the drone to get a valuable logs.

11

And also sir my drone is kind of hard to lift off and most of the time it trys to flip frontward or backward.

Regards Boss

12

Try this settings, it will reset your logging to default, disable FFT and gyro fast sample.
Also trying to guess your throttle notch filter config, but you need flying drone for correct estimation.
What ESC and motor you are using? I recommend configuring DSHOT if possible, or replacing ESC that supports it. What is all up weight of your craft?

INS_FAST_SAMPLE,0
FFT_ENABLE,0
LOG_BITMASK,180222

INS_GYRO_FILTER,34
INS_HNTCH_FREQ,70
INS_HNTCH_BW,35
INS_HNTCH_ATT,35
INS_HNTCH_REF,0.12
INS_HNTCH_FM_RAT,0.7
INS_HNTCH_HMNCS,1
INS_HNTCH_OPTS,0
INS_HNTC2_FREQ,80
INS_HNTC2_BW,40
INS_HNTC2_ATT,40
INS_HNTC2_REF,0
INS_HNTC2_FM_RAT,1
INS_HNTC2_HMNCS,3
INS_HNTC2_OPTS,0
INS_HNTCH_ENABLE,1
INS_HNTCH_MODE,1
INS_HNTC2_ENABLE,0
INS_HNTC2_MODE,1

13

Sir the motor:Pro Range-620,esc is a generic one and weight of the craft is around 1.8kgs

14

Thanks for the reply sir cuz this info will help me alot but unfortunately we can change the esc because our team ran out of money.

15

Students and teams of students are the ones that profit the most from using AMC.

Learn it correctly and you only need to learn it once.

It speeds up your learning, and teaches you non chaotic method of configuring complex systems.

Follow the instructions and do not skip stuff, it already goes as fast as possible.

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16

Is that the take-off weight with the battery? Doesn’t sound like it as that battery is ~1350g

17

If the quad flips during take off,

  1. Check your Accel calibration and AHRS_ORIENTATION.That is the most important.
  2. When it is done, set one flight mode to land. When you have problem with landing manually, switch to land mode using your TX Toggle switch and the copter would land on auto.
18

Sir actually we use the 4s 13000mah battery but it was giving some problem so we change to 3s 2200mah battery for a while to check whether the motor weight is the issue or not.

19

Sir we have done the landing and it’s not giving problem but instead we r getting problem during take off.

20

Replacing a 4S battery for a 3s will cause problems. Do not do that.

Do you have a voltage monitor?

1 Like