Please look at that doc for specific param on mission planner (sorry if we missed anything). This is the attempt and you can see the drone tilting. https://drive.google.com/file/d/1CvoTlbDxJAf5eOv8ZvgXdbAarA8JVOhy/view?usp=sharing Since PID and harmonic notch filtering is active?? the drone’s servo outputs are unequal do we want them to be same before takeoff? We have done initial tune params but I don’t know how to tune such a heavy drone. We in the video we are using a custom prop guard, https://drive.google.com/file/d/1Xlsd_9cC_HVl6PJ7vlbrKFsp0cYJBTTk/view?usp=sharing, would this be disrupting thrust to a huge extent? I understand it will disprust but even so I assume we should hover at 50-60% throttle.
Please point us in the right direction, we have to fly this drone in 2 days, for final demo!!!
Yes it is, Battery power is 6000mah 120C 6S, weight with battery, prop is 7x4x3 (we have 7x5x3 too). Would prop guards noticeably affect performance (we are keeping them so drone doesn’t topple and shatter any blade) ?
Its 1700kv for the prop and motor rating we should have a liftoff at ~50% But how to tune will it be easier to anchor middle of drone with a string and let it auto tune of sorts? I don’t know how that works though.
You did perform a Motor Test in Mission Planner to confirm the motor order and direction are correct?
Rosser’s guides are not recommended here. You would do better with Arducopter published information Tuning Process Instructions or you could use the Methodic Configurator
So we just went through we were following the same tuning process steps: 1 and 2. Only changes were MOT_THST_HOVER to 0.4 and MOT_THST_EXPO to 0.6 (7 inch prop heavy drone though). Rest of them are ATC_THR_MIX_MAN to 0.1, MOT_SPIN_MAX= 0.6 (for safety expecting takeoff at 0.6). PID tuning following Initial param setup on inch size prop and battery. These are extended tuning values:
In the recent test: we couldn’t hover but motors 1 and 2 with increasing throttle went up to 50% (ccw motors) and 3 and 4 (cw) remained at 25% is that PID to blame and why are they not increasing together.
This is meaningless. There is NO expectation of the outputs being equal under that condition. If you are sure of the motor order and direction, understanding which motors should turn when you press the A-D buttons, put the props on, guards off, and give it a some throttle to get in the air and hover for a short time.
The default Rate PID’s that you have will not work for a 7" craft. When you view the log from the hover flight you will see why. Output oscillation. The remedy for that is covered in the tuning guide and the Methodic Configurator.
Perhaps with your level of Arducopter tuning knowledge you would be better off to reset all to default and use The Methodic Configurator.
And forget about that Parameter list change document wherever that came from. Just post the parameter file.
I am worried about burning the motors, last time we tested at full throttle one of the motor caught albeit it was due to a team member pushing motor base plate screw all the way in punchuring 2 of 3 wires when at high temp the wire insulation got soft.
Problem is, if the drone really needs .6 to fly, and you’ve maxed the throttle to .6, you will saturate the outputs and the drone won’t be flyable. You’ll actually induce a crash.
You’re better to follow the tuning guides that have been linked above and go through those steps, slowly, and one by one. Those instructions have evolved by the mistakes of others. You don’t need to make all the mistakes yourself if you follow the guides.
I removed changed PID value tooI think the only one’s I didn’t change are (don’t know what they are responsible for default is 20 for both):
ATC_RAT_PIT_FLTD
28.5
ATC_RAT_PIT_FLTT
28.5
Also I realized smth major my servo was min 1000, max 2000 and trim 1000 as soon as I made it 1500 the output was comparable (I am stupid, but what does trim do in Mission Planner servo out)?
Do you think motors burn if my 2806.5 1700kv motors only take in 47A max and ESC can push 60A or was fire cause was def wrong assembly before (sacred of a second fire). I see thank you then, I already followed Tuning in ardupilot official guide I will look at Methodic configurator too. I replied to Dave with my wrong trim and change back to PID default with my param file if you wanna take a look. I really appreciate you guys!
The trim value doesn’t do anything when it’s connected to motors using Dshot. You can leave it at 1000, in fact it might re-set to that automatically. Trim is used when the output is connected to a servo, or in some cases a reversing motor. Neither apply in this case so don’t worry.
The assembly issue probably had more to do with the smoked motor. If you damage two of the wires and they short out …. no parameter is going to save that.
We tried another test but couldn’t get it to liftoff and backed away at two motors at 0.6 and two at 0.3 for some reason the servo out is wildly equal and they seesawed too after test ccw motors were crazy hot?! Extended tuning values after following Methodic configurator:
We tried to download log over mavlink but it was 16 min est to download so I disconnected Tele and connected to FC using USB now I cant see any logs at all, is downloading over tele only way since if fc restarts logs are lost? and I cant seem to find how to chnage FC log time from 1979 to now do I need GPS_time for that, we have no GPS (indoor flight)
