Hexacopter, after flying for a period of time, the sensitivity will change, and there will be vibration and twitching

ArduCopter Copter 4.5
1

Aircraft configuration
ESC HOBBYWING BLDC 60A CAN
Flight control CUAV V6X
Firmware AP4.5.7
Propeller size 34 inches
GPS mosik-h and M9P

Configure the aircraft according to the basic steps, use initial Tune Parameter to configure Accel max and low-pass filter and mot_batt compensation, and configure harmonic filter based on ESC telemetry, adjust psc_accz based on hover log, and then use QuikTune lua script to quickly adjust pid.
After everything is done, the normal flight is carried out. The initial flight is very stable, and the control and feedback are very suitable. However, as the flight time increases, after about twenty minutes, the aircraft will become very bad, with excessive control feedback, oscillation and twitching. After downloading the log and analyzing it, I can’t find out where the problem is.

1
11705×980 17.5 KB

2
21705×980 18 KB

3
31705×980 16.2 KB

4
41705×980 16.1 KB

Seeking help from friends! ! ! !
Attached flight log
Cycle route test
Hover Test

2

You probably missed a step in your configuration, got a mechanical problem, or got PID voltage scaling not set.

In any case you can use ArduPilot methodic configurator and perform steps 04 to 19 to fix at least the configuration steps you missed, and the PID scaling.

1 Like
3

Thank you very much for your reply.
I set the pid voltage scaling parameters mot_bat_volt_max and min before flying.
5

I have been familiarizing myself with the methodicalConfigurator software you introduced, but I have not yet put it into practice in a formal flight.
微信图片_20250407162619

4

If that helps, the software is fully translated to simplified chinese.

5

Yes, the current Chinese literacy level is very high, thank you very much to the developers
I plan to build a small quadcopter to test the software, but I’m currently debugging a hexacopter with 34-inch propellers, and I shouldn’t practice on a large aircraft until I’m fully proficient in the software.

6

This produced values for ATC_ANG_PIT/RLL_P that are too low or you lowered them. Try setting them back to default and run Auto Tune.

7

Hello sir
I lowered these values ​​because the aircraft has a very high thrust-to-weight ratio and the hover throttle MOT_THST_HOVER is around 0.18. The default value makes the aircraft very sensitive, so I lowered these two values.
If this is wrong, I will restore these values ​​and run AUTO Tune

8

That’s what I would do.