I need some help analyzing flight logs to better understand how my copter is performing.
I am currently working on a heavy-lift drone with a 10 kg payload, and I would really appreciate your guidance and feedback. I have attached the flight log below for reference.
Could you please review the log and share your valuable feedback, particularly regarding:
Overall flight performance
Stability under heavy payload
Any anomalies or warnings observed in the log
Suggestions for parameter tuning and improvements
Your insights and recommendations for optimization would be extremely helpful.
Problems Observed:
Sudden yawing of the drone during flight.
Voltage sag of approximately 5 volts at an MTOW of around 29 kg.
Barometer accuracy issues:
I can visually observe the drone oscillating in Loiter mode during the first 1 minute after takeoff. After some time, it stabilizes and holds altitude properly.
The same behavior is observed in AltHold mode, but it self-corrects after a short duration.
According to Logs i have obserevd vibration affecting the IMUs as well (according to logs)
With the parameters remaining the same as listed above, how can I reduce Z-axis vibrations when the flight controller is mounted flat on the mounting plate? The controller has approximately a 3 mm overhang at the front and rear, which corresponds to the X-axis. I have been tuning the system, and it initially exhibited significant altitude oscillations, which I was able to reduce it just yawing now.
i wanted to get over with the surface level problems before enabling notch filter i belive because of some internal correction its using up power slowly which is causing the rotor its flight time
Complete confused at this point i dont want to over due and cause a crash for the rotor
Flight Controller is custom
Arducopter version is 4.4.4
Quick Tune is not there for this Flight Controller & Auto Tune is failing when triggered
Propeller size 24 Inch
Payload is liquid
And the Paramters are
ATC_ACCEL_P_MAX 38000
ATC_ACCEL_R_MAX 38000
ATC_ACCEL_Y_MAX 14400
ATC_RAT_PIT_FLTD 10
ATC_RAT_PIT_FLTE 0
ATC_RAT_PIT_FLTT 10
ATC_RAT_RLL_FLTD 10
ATC_RAT_RLL_FLTE 0
ATC_RAT_RLL_FLTT 10
ATC_RAT_YAW_FLTD 10
ATC_RAT_YAW_FLTE 2
ATC_RAT_YAW_FLTT 20
ATC_THR_MIX_MAN 0.1
INS_ACCEL_FILTER 11
INS_GYRO_FILTER 21
MOT_THST_EXPO 0.74
MOT_THST_HOVER 0.2048 Got Through Hover learn with 30 seconds of Alt Hold Hover & Land
Main Processor STM32H7 Series 32-Bit ARM Cortex-M7 Core, 480 MHz
Coprocessor STM32F1 Series 32-Bit ARM Cortex-M3 Core, 72 MHz
