Hot motors, even in gentle hover

ArduCopter Copter 4.5
1

Hi, my copter keeps overheating its motor even on simple hovers. What could be causing this?

I’ve tried to set up notch filters, I’ve also done quik and autotune multiple times, but doesn’t seem to affect much, even though it feels stable enough in hover, has responsive controls, and pretty minimal vibrations.

I noticed that the CPU load is fluctuating up to 70%, is this concerning?

I also suspect D term as the culprit, but i don’t know how to review PID.

here is my setup:
~2.5kg AUW
6S lipo
BDshot BLheli_S ESC
3115 900kv motor
Gemfan 1050 propeller

and here is the BIN

2

Try reducing the INS_GYRO_FILTER to 20 and hover for approximately the same time and see if the motors are running cooler.
If they do its probably something to with gyro noise it would be good idea to review your Notch Filter setting.
Try to enable “Control Tuning”, “PID”, “Medium Attitude” bits in the LOG_BITMASK parameter.

3

Try remove D from Yaw, you actual dont need it for larger copter.

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4

Thanks for your suggestions, i’ll give an update later

1 Like