Help for indoors steady flight (no GPS, no optical flow)

Start by reading “ArduCopter dynamic notch configuration” ( Google for it)
And post any questions you have here

Drone sliding issue @amilcarlucas @andyp1per

Small fly No any rc input, all side weight equal,notch enable,calibration done

test.bin (812.7 KB)

Are you saying the copter is not holding position?
You have no GPS unit (or Optical Flow sensor) detected or working - it is impossible to hold position without one.

You are in Stabilise mode, so the copter will move with the wind or any disturbance.
You will also need to test in AltHold , but Loiter will need a working GPS unit or some other position source.

You can improve the performance in all modes by connecting to MissionPlanner, got to set up, Mandatory… Accel Calibration
Carefully level the entire copter, then press the Calibrate Level button

Also set all of these:
BATT_FS_CRT_ACT,1
BATT_FS_LOW_ACT,2 or 3
BATT_LOW_VOLT,14.4
INS_ACCEL_FILTER,10
INS_GYRO_FILTER,75
INS_HNTCH_OPTS,0
INS_HNTCH_REF,1

2 Likes

indoor flying not using gps
Using AltHold same output
Flying car parking no any wind

You need to add optical flow for that to work.

I updated the post tittle to refect your system.

2 Likes

Last night flight all setting test :grin:
3" Cinewhoop with duct 3045 prop

https://drive.google.com/file/d/1ocpdkifQ6YO1q1mTBWcii4L-ZHTAn8U-/view?usp=drivesdk

Today outdoor fly notch enable,gps 3d fix

https://drive.google.com/file/d/19g4nd4Ma2YWlGhIuhjpVR7-m_qSrr_oF/view?usp=sharing

After switch poshold drone tilt 1 side and normal yaw
No any radio input

Log file
https://drive.google.com/file/d/1qZrx5o6eIl4Ctl9kdn6o3O2YhsG_XWkM/view?usp=drivesdk

Mission planner screen recorder video
https://drive.google.com/file/d/1qXD22ikA7ilDFuubmKi_0eJi72tmqEai/view?usp=drivesdk

Tested
https://drive.google.com/file/d/1qhjIbhTpNn5p2ODtzy9pIo7B4ZKnKJte/view?usp=drivesdk

You can set
ATC_THR_MIX_MAN,0.5
AUTOTUNE_AGGR,0.08 (dont go below this, and prefer 0.1)
BATT_FS_CRT_ACT,1

and just to make the HNOTCH a bit more technically correct, even though it is working fine using the ESC telemetry
INS_HNTCH_FREQ,300
INS_HNTCH_BW,100
INS_HNTCH_REF,1

I couldnt see any other big problems

1 Like

You see 11 post

Can effect this radio input in flight

tested
https://drive.google.com/file/d/1sDHb6g1VK9XoeCWgWfXMTpnyCmJClgCW/view?usp=sharing

my radio issue stick not mid stable i trim min to max problem solved

In that log the RC inputs look good

1 Like

today flying outdoor with gps lock
Fly night low altitude no wind

no rc input in after poshold mode on

drone little shaking
poshold position

and yaw small drift

what’s is wrong ya it is normal ?

roll and pitch tune again ?
complete yaw tuning first ?

https://drive.google.com/file/d/1b9T6jB91xUj6z697E1EVpZ_3LvbX2tfA/view?usp=sharing
@xfacta

X axis vibrations is still much higher than Y and Z, although not into any danger zone. It’s something you should probably check and fix.

PIDs are all very high, I would run Autotune again after fixing the vibrations.

AUTOTUNE_AGGR,0.10
AUTOTUNE_AXES,7

If you cant get through all 3 at once, do Yaw last, but dont do Yaw D, just Yaw.

Use Loiter instead of PosHold - it’s so much better.
Then try these to see if that unwanted movement in GPS-assisted modes settles down

PSC_POSXY_P,0.5
PSC_VELXY_D,0.25
PSC_VELXY_I,0.5
PSC_VELXY_P,1.0

This is just half of their default values, so easy to put back if you require a tightly-constrained position.

1 Like

Cannot go through all 3 axis at the same time dont have No fly time
Only 1 axis will be completed at a time

Can i change ATC_THR_MIX_MAX 0.9 and ekf3_primary 1 For autotune

Can i tune drone in poshold ya loiter fly mode
(in no wind) ?
Because in althold drone moving all ground area
So I have to use a radio stick to hit back position loss fly time for tune

PSC_POSXY_P,0.5
PSC_VELXY_D,0.25
PSC_VELXY_I,0.5
PSC_VELXY_P,1.0 Do you set this parameter before tuning?

(Thanks for supporting @xfacta )

That is OK and typical of a lot of copters.

If you needed to change these for ordinary flight then you would have them set that way for Autotune too, but dont change them just for Autotune. Did you have a reason for those changes?
If you set any of the ATC_THR_MIX_MAX or ATC_THR_MIX_MAN to higher than 0.5 it could be that the copter wont ascend descend as it’s trying to use more throttle for stability than altitude. There are cases where you do set higher values, but I wouldnt say it’s something to just try for the fun of it while there’s other tuning to be done first.

I have almost always run Autotune from Loiter mode, and it doesnt make a lot of difference compared to starting from AltHold mode, for me. The copter still moves around a lot. If a copter is not well behaved then starting from Loiter can produce sub-standard results. It is typical to reposition a lot during Autotune.

Yes, you can set them before the next flight and before Autotune, or after. They wont affect the Autotune result. The lower values mean the copter wont try to follow a wandering/inaccurate GPS position as strictly.

1 Like

Finally package recieved successfully after 35 days
China to India

trying pending yaw tune axis
tuning yaw axis 6 time full charged battery pack tune always not end

you see mavlink message

in tune log file

Start with pitch and roll axis first. Only then do yaw axis.