Hello everyone,
I recently built a drone with a 5-liter payload capacity for agricultural purposes. I’ve followed all the Ardupilot instructions, completed the necessary calibrations, and performed motor testing. The drone flies well in Stabilize and AltHold modes.
However, I’m encountering an issue with PosHold mode, both with and without tuning. When the drone is carrying the full 5-liter payload and I try to hover it in PosHold mode, I’m experiencing significant deviations. Specifically, when I give roll input to the drone forward and backward, it doesn’t maintain a straight line.
Interestingly, during the same flight, I completed a small Auto mission and then tried the forward movement again in PosHold mode. This time, the deviation wasn’t as pronounced as before, but it still wasn’t holding a straight line. Without any payload, the drone performs much better and there’s minimal deviation.
Here are the components I’m using:
- Controller: Pixhawk 4
- PMU: Holybro PM07
- Firmware: Arducopter 4.5.4
I’ve attached the log files for your reference. I would appreciate it if you could review them and provide suggestions to resolve this issue.
Log file: 2024-06-28 16-52-32.bin - Google Drive
Thank you in advance for your help!