I am currently working on a heavy lift drone, and here are the specifications:
Motor: T motor U15 II 100 KV Motor
Propellers: T motor G40X13.2
Electronic Speed Controller (ESC): T motor Flame 180 A
Flight Control Board (FCB): Cube orange
After building the drone, I conducted an initial flight with the default parameters, and the drone took off without any issues. Then, I adjusted the initial parameters according to the prop size, ESC, etc. which included MOT_PWM_MIN, MAX, etc.
Next, I attempted to perform an autotune. I followed the sequence of autotuning the Roll axis first, then the Pitch axis, and finally the Yaw axis. After completing the Roll autotune, the gains were (P: 0.4, I: 0.4). Similarly, after the Pitch autotune, the gains were (P: 0.27, I: 0.27). The drone was flying well, and the attitudes were fine at this point. However, during the Yaw autotune, the drone started wobbling and eventually stabilized itself to the ground. This happened three times, with me shuffling the axes for the autotune, but each time the drone learned similar PID gains and became unstable right after the autotune.
As of now, I have kept the mot_thst_expo at 0.65 and have not made any adjustments. I would appreciate any valuable suggestions regarding this issue.
Set all battery voltage levels correctly and especially these:
BATT_FS_CRT_ACT,1
BATT_FS_LOW_ACT,2 or 3
MOT_BAT_VOLT_MAX
MOT_BAT_VOLT_MIN
use all the values from Initial Parameters
Also set
FENCE_ENABLE,1
it’s your choice, but you dont want these copters with very big props getting away from you.
Set these
MOT_THST_EXPO,0.4
MOT_PWM_MIN,1100
MOT_PWM_MAX,1940
ATC_INPUT_TC,0.2
then retest and set your MOT_SPIN_ARM and MOT_SPIN_MIN
@xfacta
The problem was not resolved even though I performed a manual tune that improved it somewhat. However, I remain skeptical about whether the tuning will be effective if I am flying at a higher altitude than the one it was tuned for. For instance, if I tune the copter for 900 AMSL but end up flying at 4000 AMSL, I am unsure if the tuning will still be adequate, and whether it would be necessary to adjust it based on the specific weather conditions and altitude.
Hello Can I know your wiring?
I also make heavy lift drone
And I also same motor spec with you
How to check Battery Voltage Pixhawk PDB and PM is too low for get high-voltage
You can go for Mauch Systems they offer higher current capacities and reliability. My wiring is pretty simple i think you will get an idea after visiting mauch website
I am also starting to make a heavy lift one, can someone recommend me something on the power distribution board. I could not find one, there are some from mauch but they are on low current capacity.
What is the requirement?
APD make a 500A PDB capable of continuous 500 amps all day every day.
Holybro have a nice CAN-connected voltage/current sensor capable of 14S 200A continuous 400A burst - think one per battery if you need too. It provides flight controller power too.
Actually this is a cool stuff, but what i am looking is the 24S voltage solution with current upto 200A per motor which is around 8 motors in the drone, giving me 200A*8=1600 A as burst current.
I think i need to make a bus bar of the copper to do this, i am trying to make something but i am still working on it.
Be aware that Ardupilot does not support manned vehicles.
For the amount of current you mention, you’ll probably need to pay for professional design and build services unless you are confident in your own abilities. Eight 200A motors is not trivial.
You could use the “smart” batteries and avoid having conventional voltage and current monitors altogether. For example the Tattu Pro, you’d use two in series, and make use of their CAN connections.
In Arducopter you set BATT2 and BATT3 as the two CAN-connected batteries, then BATT is type 10 for “Sum of Selected Monitors”
