Heavy Drone crash cause analysis

[xfacta (Shawn)]

The ESCs you have, T-Motor Flame 60A HV 600Hz, “linearize” the thrust, which normal ESCs dont do.
Once you’ve got everything else ready for testing, try a mid range value like 0.5 and test lower values from there. Let us know what you come up with.
According to the consensus on those Flame ESCs you’d expect to use somewhere from 0.0 to 0.3

@Leonardthall

So how do you tell if this value is wrong?
You get oscillations when you go full throttle or you have very poor control at low throttle.
You find that you can’t change the take off weight of the aircraft without redoing the tuning.

There’s some good info in this discussion:

Using "measured" MOT_THST_EXPO: What improvement can one expect?

Hey let’s assume one has measured the motor thrust curve and thus can determine a more accurate value for MOT_THST_EXPO, than the default of 0.65. Theoretically this should improve control and thus the copter behavior. What I’d like to understand better, since I lack the experience/knowledge: How much of a positive effect can one expect in practice? If there is any significant effect, how could one actually validate/demonstrate the positive effect, in some objective manner? Thx, Olli

EDIT: And once you’ve tested, tuned and autotuned with the minimum flyable weight, I assume you’ll want to add some real payload further increasing the take off weight. When you do, adjust these parameters as follows (from the Tuning guide):

• ATC_ACCEL_P_MAX x (min_TOW / max_TOW)
• ATC_ACCEL_R_MAX x (min_TOW / max_TOW)
• ATC_ACCEL_Y_MAX x (min_TOW / max_TOW)