How to methodically configure and tune any ArduCopter

[amilcarlucas]

there is no vehicle.jpg file in the .zip file, can you provide one?

It is not possible to review any of your parameter decisions because you did not update any of the “reason changed” fields.

How can one, without it, evaluate if the parameter is correctly set for your particular vehicle and use case or not?

[Abdullah_younus (Abdullah Hassoon Younus Younus)]

I have a pixhwak cube black so I have 3 imu sensors in it. I have done the imu temp calibiration and i have found something wierd, The third imu stop when the temp reached 50 C.

but in the documentation is says for boards that contain an internal heater it is recomeded that the third imu TMAX is lower by about 10 C, So deos this graph seem good?
and in order to get a better temp curve is it better to put the controller under the sun(faster), or leave it in the shadow in the room temp(takes about 2 hours)?

[amilcarlucas]

The ArduPilot Methodic Configurator will set the heater temperature on step 04 to 45 °C so the 50°C is fine.

Putting it in the sun is OK. Just make sure it does not move.

[Abdullah_younus (Abdullah Hassoon Younus Younus)]

Is it okay to calibrate in the room temp in the shadow?

[amilcarlucas]

Yes, that is also OK. Just make sure it does not move.

[Abdullah_younus (Abdullah Hassoon Younus Younus)]

if I set TMAX for all the three imus to be 64 would that be better, becuase now in this weather I think the IMU temp can reach over 50 C?

[PVR2022 (PVR)]

Dumb question.

we have 2 similar frames, one with alpha esc and notch filter working.

the another one, similar frame, similar motor, but different esc (tmotor flame), i would setup the similar notch filter params?

it will be dangerous or not works?

thanks

[amilcarlucas]

If you are using the latest AMC version it gets set to 65 on all three IMUs already.

And on step 04 gets set to 45. If that is not the case then you used an old template.

[amilcarlucas]

You can set them as a first approach and refine them on a second step after the first flight.

[Abdullah_younus (Abdullah Hassoon Younus Younus)]

Does these plots looks good?

[amilcarlucas]

Yes they do:

• the temperature (black) increases from 0 (Tmin) to around 50 (Tmax) in a asymptotic (logarithmic) fashion
• the Corrected X, Y, Z curves are mostly flat and around 0

This is also described in the very first (Blog) post:

@amilcarlucas

The graphic below depicts the accelerometer drift versus time and the board temperature versus time. The temperature curve, depicted in black, is logarithmic as expected. The other curves are smooth, proving that the flight controller was not moved in the process and the calibration is valid. As can be seen, before the calibration temperature changes caused a big change in accelerometer/gyro drift. After the calibration, temperature changes will cause no significant accelerometer/gyro drift changes.

[amilcarlucas]

The first post is the most liked post on this ArduPilot user forum, thanks for the likes
But it is cumbersome to edit, limited to 64000 characters and the HTML link anchors change every time I add a new HTML anchor (heading or section).

I will be deprecating the first and second posts on this Blog post in favor of How to methodically tune any ArduCopter | MethodicConfigurator

To facilitate collaboration, and support other vehicles than ArduCopter I decided to move the contents to the new location. There I can receive github Pull requests from collaborators to improve the guide and keep the software synced with it’s HTML anchors.
ArduPilot methodic configurator version 0.9.6 and up already uses the new guide.

The only regressions are:

1. the new guide no longer tracks the amount of times an HTML link was followed, and
2. the new guide no longer supports “likes”

But you can still like it here

This thread will continue here as a way to discuss the method with forum users that do not have a github account and/or do not know what a pull-request is

[Luciano_Andreani]

I ask the iMU Temperature calibration can it be performed using only the flight controller, therefore not inserted inside/on top of the drone?? Insert it without anything connected to it and place it in the fridge to bring it to a low temperature and then remove it and place it in a warmer environment by connecting it via USB cable to the PC to start the calibration.

[amilcarlucas]

yes, that is of course possible