Hobbywing x9 motors on CUAV X7+ Pro vibration levels

ArduCopter
1

Hello.
I made 2 Quadcopters with X9 Motors on the chassis of EFT.
I have X7 + Pro Flight controller in the configuration and I have no compass problem with Baseline yaw heading.

  1. There is no problem with the device and it flies very well.
    My other device has a vertical vibration starting after 40 seconds of the video.
    https://www.youtube.com/shorts/IUGt7nlMeHY
    I am doing ArduPilot methodic configurator manually but I need to fly stable in ALTHOLD mode for NORCH filtering but it vibrates in althold mode and I could not find the reason.

image
image945×490 73.3 KB

I think the vibration values are at an acceptable level.

image
image945×495 70.7 KB

I have successfully flown many devices on ardupilot but I need your help on this one.
I would appreciate your help.

I am sharing the log file with you.

2

Share a zip file with the contents of the AMC vehicle directory

3

I follow the ArduPilot methodic configurator manually step by step.
I don’t use configrator.exe.

4

The AMC Tuning Guide does not present all the details.
It is already very long, without all those details.
And there are automation steps that can only be done in the software.

Have you seen the software presentation on the website ?

5

Hi @idris,
I reviewed your log, and my initial thought is that the oscillation in all IMUs’ Z-axis after entering ALTHOLD mode, based on the oscillation frequency, seems more likely to be caused by Z-axis vibration rather than the posZ controller’s aggressiveness. Do you use a vibration mount?

6

No, I haven’t seen that.
I will look into it.

7

I also used anti-vibration, but nothing changed.

8

Could you provide a log for the flight with the damper?

9

Here are two flights with vibration isolators.

10

Are the RCOUT outputs oscillating ?

11

image
image1919×1004 61.7 KB

Actually, there seems to be an oscillation here.
I haven’t flown enough to warm up the engine.
I actually made the Initial Tune params settings exactly.

12

Most critically set up the battery monitor correctly along with the failsafe actions:

BATT_ARM_VOLT,44.30
BATT_CRT_VOLT,42.00
BATT_LOW_VOLT,43.20
BATT_FS_CRT_ACT,1
BATT_FS_LOW_ACT,2

then set these:

ATC_INPUT_TC,0.20
ATC_ANG_PIT_P,6.0
ATC_ANG_RLL_P,6.0
ATC_RAT_PIT_D,0.006
ATC_RAT_PIT_I,0.12
ATC_RAT_PIT_P,0.12
ATC_RAT_PIT_SMAX,50
ATC_RAT_RLL_D,0.006
ATC_RAT_RLL_I,0.12
ATC_RAT_RLL_P,0.12
ATC_RAT_RLL_SMAX,50
ATC_RAT_YAW_I,0.030
ATC_RAT_YAW_P,0.30
ATC_RAT_YAW_SMAX,50
PILOT_THR_BHV,7
PSC_ACCZ_I,0.4
PSC_ACCZ_P,0.2
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,4
LOG_BITMASK,180222

Then provide a .bin log

13

Thank you. I will try and make the log file.