Hexacopter Heading Issues in 1st Path -Agriculture Drone

ArduCopter Copter 4.4
1

Hello all

I’m testing up a large (MTOW-40kg) agriculture spraying hexacopter drone.
Aircraft details
MTOW: 40kg
Size: 1800mm motor to motor

Takeoff masses tested:
Empty: 24kg
16kg payload (Water): 40kg

Propulsion
Motor: Hobbywing X8
Propeller 30"
Battery setup: 12S2P 44Ah (2X Tattu 6S 22Ah)

Flight controller: Cube Orange plus with vibration damper.

Process so far: Initial Parameter -Harmonic Notch Filter-Quick tune (Done)

I am facing some issues listed below

1.If i give pitch forward command after the drone take off it goes slightly left side without roll input.
2.But if we give some yaw command to correct the position then it will learn and move straightly.

I have added the image for your reference.

Picture2
Picture2405×875 168 KB

Log Link:Log

2

Those configurations that you did are not enough.

You need to either read the entire documentation and find out what is missing and do it

Or use the ArduPilot Methodic Configurator software to guide you in the fastest and safest configuration sequence publicly known.

2 Likes
3

Thank Your for your kind reply.

I am having some doubts.

1.Magfit calibration need to do with Maxi TOW or Mini TOW.
2.Quick tune need to do with Maxi TOW or Mini TOW.

Please give some suggestion.

4
  1. makes no difference as long as you calibrated the battery monitor current sensor correctly.
  2. Mini TOW
1 Like
5

Thank you for your kind reply.

The thing i have calibrated quick tune & Magfit.

After the calibration with Mini TOW the 1st path is going straight way without any heading deviation but in Maxi TOW the 1st path heading is changing as picture attached for your reference in 1st post.

6

Post the .zip file with the intermediate parameter file from ArduPilot Methodic Configurator

7

Log Link:Logs - Google Drive

currently i have posted the log for your reference.

8

I only look at log files after I see the .zip file.
Makes no sense looking at log files of an incorrectly configured vehicle.

9

Please let me know what i had incorrectly configured it will help me for better understanding.

10

I can only do that after I see the zipped files.
I can not and will not guess your configuration from 4000 km away.