How to methodically tune (almost) any multicopter using ArduCopter 4.4.x

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39

I now added the LOG_BITMASK bits to .bin dataflash message correspondence information.

1 Like
40

This is amazing but should totally be in the Wiki!

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41

Oops. I must have deleted it. Here is a new one.
03_RC_HWconfig.param.txt (82 Bytes)

This does not work under my hardware configuration.

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42

You said you got it working. Post the file that works.

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44

Sorry I thought I was being clever but I guess I was being vague.

I posted that I got it working, and I had a screenshot of inav configurator.
ezgif-4-d492ec91dd
I never got it working under ardupilot. It worked in inav.

But it doesn’t matter because it failed under inav a few days later, along with the message:

Arming disabled flags: NAV HWFAIL RX CLI DSHOTBEEPER

I tested it with 2 Rxs and a different FC.

attached diagram
attached diagram1920×1313 170 KB

The way I see it there’s no way two different Rxs could refuse to connect with one working FC and not another (working) FC. It’s more likely that the FC they can’t connect to has a hardware issue, like the configurator error message indicates.

I have contacted Holybro support and I’ll update you all about whether they fix this FC or mail me a new one. Or maybe they’ll leave me hanging SOL. Regardless I’ll post what they do.

45

The table below explains which bit is responsible for which .bin dataflash log message(s):

Log message vs. LOG_BITMASK value
LOG_BITMASK
MessagedescriptionLog ratefield namebitvalue
SIDDSystem ID dataSCHED_LOOP_RATE / 1ATTITUDE_FAST and ATTITUDE_MED1 and 03
SCHED_LOOP_RATE / 2ATTITUDE_FAST02
SCHED_LOOP_RATE / 4ATTITUDE_MED01
SCHED_LOOP_RATE / 8--0
SIDSSystem ID settingsSCHED_LOOP_RATE / 1ATTITUDE_FAST and ATTITUDE_MED1 and 03
SCHED_LOOP_RATE / 2ATTITUDE_FAST02
SCHED_LOOP_RATE / 4ATTITUDE_MED01
SCHED_LOOP_RATE / 8--0
RATEDesired and achieved vehicle attitude ratesSCHED_LOOP_RATE / 1ATTITUDE_FAST and ATTITUDE_MED1 and 03
SCHED_LOOP_RATE / 2ATTITUDE_FAST02
SCHED_LOOP_RATE / 4ATTITUDE_MED01
SCHED_LOOP_RATE / 8--0
ATSCScale factors for attitude controllerSCHED_LOOP_RATE / 1ATTITUDE_FAST and ATTITUDE_MED1 and 03
SCHED_LOOP_RATE / 2ATTITUDE_FAST02
SCHED_LOOP_RATE / 4ATTITUDE_MED01
SCHED_LOOP_RATE / 8--0
ATTCanonical vehicle attitudeSCHED_LOOP_RATEATTITUDE_FAST01
10 HzATTITUDE_MED12
IMUInertial Measurement Unit dataSCHED_LOOP_RATEIMU_FAST and ATTITUDE_FAST18 and 0262145
25 HzIMU7128
GPSInformation received from GNSS systems attached to the autopilot~ 5 HzGPS24
GPAGPS accuracy information
UBX1uBlox-specific GPS information (part 1)
UBX2uBlox-specific GPS information (part 2)
GRAWRaw uBlox datas
GRXHRaw uBlox data - header
GRXSRaw uBlox data - space-vehicle data
TERRTerrain database information
PMautopilot system performance and general data dumping ground1 HzPM38
XKF0EKF3 beacon sensor diagnostics25Hz if ATTITUDE_FAST is set, else 10Hz---
XKF1EKF3 estimator outputs
XKF2EKF3 estimator secondary outputs
XKF3EKF3 innovations
XKF4EKF3 variances
XKF5EKF3 Sensor innovations (primary core) and general dumping ground
XKFSEKF3 sensor selection
XKQEKF3 quaternion defining the rotation from NED to XYZ (autopilot) axes
XKV1EKF3 State variances (primary core)
XKV2more EKF3 State Variances (primary core)
XKTEKF3 timing information
AHR2Backup AHRS data
POSCanonical vehicle position
CTRLAttitude Control oscillation monitor diagnostics10HzCTUN416
RFNDRangefinder sensor information
PRXProximity Filtered sensor data
PRXRProximity Raw sensor data
BCNBeacon information
CTUNControl Tuning information100Hz
PSCNPosition Control North10HzNTUN532
PSCDPosition Control Down
PSCEPosition Control East
RCINRC input channels to vehicle10HzRCIN664
RCI2(More) RC input channels to vehicle
RSSIReceived Signal Strength Indicator for RC receiver
VIBEProcessed (acceleration) vibration information10HzIMU or IMU_FAST or IMU_RAW19 or 18 or 7-
CMDExecuted mission command informationon eventCMD8256
MAVCMAVLink command we have just executed
BATGathered battery data??CURRENT9512
BCLBattery cell voltage information
MCUMCU voltage and temperature monitoring
POWRSystem power information
RCOUServo channel output values 1 to 1410HzRCOUT101024
RCO2Servo channel output values 15 to 18
RCO3Servo channel output values 19 to 32
OFOptical flow sensor data??OPTFLOW112048
PIDNProportional/Integral/Derivative gain values for NorthSCHED_LOOP_RATE if ATTITUDE_FAST is set else 10HzNTUN and PID12 and 54128
PIDEProportional/Integral/Derivative gain values for East
PIDRProportional/Integral/Derivative gain values for RollSCHED_LOOP_RATE if ATTITUDE_FAST is set else 10HzPID124096
PIDPProportional/Integral/Derivative gain values for Pitch
PIDYProportional/Integral/Derivative gain values for Yaw
PIDAProportional/Integral/Derivative gain values for Altitude
MAGInformation received from compasses??COMPASS138192
CAMCamera shutter informationon eventCAMERA1532768
TRIGCamera shutter information
MOTBMotor mixer information10HzMOTBAT17131072
ACCIMU accelerometer dataSCHED_LOOP_RATEIMU_RAW19524288
GYRIMU gyroscope data
VSTBMotor mixer informationSCHED_LOOP_RATEVIDEO_STABILISATION201048576
FTNFilter Tuning Message - per motorSCHED_LOOP_RATEFTN_FAST212097152
FTNSFilter Tuning Message
FTN1FFT Filter Tuning25 Hz
WINCWinch10HzAnyanyany
2 Likes
46

Hi Amilcarlucas,I have just dug out my Taycan 3 inch quad and order a Matek H743 Slim and a T motor 45amp 4 in1 Esc from 3DXR so this project will be in full swing soon and im hoping to also use a Helical GPS set up,expect many questions,also later I may require a script from you to allow me to set up drone ID,and once again thank you for all your hard work.
p/s how long flight time do you get on an 4s x1800 on the TayCan

47

Unfortunately only 5 Minutes :frowning: Martin.

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48

I may try and make a 4s x 4500 li on batt aout 35 amp and see how it goes but 1st need to get it flying in Ardupilot

49

We tried 5000mAh and got warmer motors with only 7 Minutes flight. Not worth the extra 2 Minutes IMHO.

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50

I have been looking forward to this so called “pause and resume” autotune for sometime.

Autotune with Position hold, interesting, was this added recently? Is it also only available under 4.4.x and above?

AUTOTUNE_AXES,8, I do not see it in 4.4.4 full parameter list, I think is a new function in 4.5.x and above. What improvement will Yaw and YawD be different from the past autotune?

51

AFAIK that is available since 4.1.x

That was introduced in 4.3.x. It improves yaw response-time, but requires special tuning care.

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Message Description Log rate LOG_BITMASK field name bit value
ACC IMU accelerometer data SCHED_LOOP_RATE IMU_RAW 19 524288
AHR2 Backup AHRS data 25Hz if ATTITUDE_FAST is set, else 10Hz - - -
ATSC Scale factors for attitude controller SCHED_LOOP_RATE / 1 ATTITUDE_FAST and ATTITUDE_MED 1 and 0 3
ATSC Scale factors for attitude controller SCHED_LOOP_RATE / 2 ATTITUDE_FAST 0 2
ATSC Scale factors for attitude controller SCHED_LOOP_RATE / 4 ATTITUDE_MED 0 1
ATSC Scale factors for attitude controller SCHED_LOOP_RATE / 8 - - 0
ATT Canonical vehicle attitude SCHED_LOOP_RATE ATTITUDE_FAST 0 1
ATT Canonical vehicle attitude 10 Hz ATTITUDE_MED 1 2
BAT Gathered battery data ?? CURRENT 9 512
BCL Battery cell voltage information ?? CURRENT 9 512
BCN Beacon information 10Hz CTUN 4 16
CAM Camera shutter information on event CAMERA 15 32768
CMD Executed mission command information on event CMD 8 256
CTRL Attitude Control oscillation monitor diagnostics 10Hz CTUN 4 16
FTN Filter Tuning Message - per motor SCHED_LOOP_RATE FTN_FAST 21 2097152
FTN1 FFT Filter Tuning 25 Hz FTN_FAST 21 2097152
FTNS Filter Tuning Message SCHED_LOOP_RATE FTN_FAST 21 2097152
GPA GPS accuracy information ~ 5 Hz GPS 2 4
GPS Information received from GNSS systems attached to the autopilot ~ 5 Hz GPS 2 4
GRAW Raw uBlox datas ~ 5 Hz GPS 2 4
GRXH Raw uBlox data - header ~ 5 Hz GPS 2 4
GRXS Raw uBlox data - space-vehicle data ~ 5 Hz GPS 2 4
GYR IMU gyroscope data SCHED_LOOP_RATE IMU_RAW 19 524288
IMU Inertial Measurement Unit data SCHED_LOOP_RATE IMU_FAST and ATTITUDE_FAST 18 and 0 262145
IMU Inertial Measurement Unit data 25 Hz IMU 7 128
MAG Information received from compasses ?? COMPASS 13 8192
MAVC MAVLink command we have just executed on event CMD 8 256
MCU MCU voltage and temperature monitoring ?? CURRENT 9 512
MOTB Motor mixer information 10Hz MOTBAT 17 131072
OF Optical flow sensor data ?? OPTFLOW 11 2048
PIDA Proportional/Integral/Derivative gain values for Altitude SCHED_LOOP_RATE if ATTITUDE_FAST is set else 10Hz PID 12 4096
PIDE Proportional/Integral/Derivative gain values for East SCHED_LOOP_RATE if ATTITUDE_FAST is set else 10Hz NTUN and PID 12 and 5 4128
PIDN Proportional/Integral/Derivative gain values for North SCHED_LOOP_RATE if ATTITUDE_FAST is set else 10Hz NTUN and PID 12 and 5 4128
PIDP Proportional/Integral/Derivative gain values for Pitch SCHED_LOOP_RATE if ATTITUDE_FAST is set else 10Hz PID 12 4096
PIDR Proportional/Integral/Derivative gain values for Roll SCHED_LOOP_RATE if ATTITUDE_FAST is set else 10Hz PID 12 4096
PIDY Proportional/Integral/Derivative gain values for Yaw SCHED_LOOP_RATE if ATTITUDE_FAST is set else 10Hz PID 12 4096
PM autopilot system performance and general data dumping ground 1 Hz PM 3 8
POS Canonical vehicle position 25Hz if ATTITUDE_FAST is set, else 10Hz - - -
POWR System power information ?? CURRENT 9 512
PRX Proximity Filtered sensor data 10Hz CTUN 4 16
PRXR Proximity Raw sensor data 10Hz CTUN 4 16
PSCD Position Control Down 10Hz NTUN 5 32
PSCE Position Control East 10Hz NTUN 5 32
PSCN Position Control North 10Hz NTUN 5 32
RATE Desired and achieved vehicle attitude rates SCHED_LOOP_RATE / 1 ATTITUDE_FAST and ATTITUDE_MED 1 and 0 3
RATE Desired and achieved vehicle attitude rates SCHED_LOOP_RATE / 2 ATTITUDE_FAST 0 2
RATE Desired and achieved vehicle attitude rates SCHED_LOOP_RATE / 4 ATTITUDE_MED 0 1
RATE Desired and achieved vehicle attitude rates SCHED_LOOP_RATE / 8 - - 0
RCIN RC input channels to vehicle 10Hz RCIN 6 64
RCI2 (More) RC input channels to vehicle 10Hz RCIN 6 64
RCO2 Servo channel output values 15 to 18 10Hz RCOUT 10 1024
RCO3 Servo channel output values 19 to 32 10Hz RCOUT 10 1024
RCOU Servo channel output values 1 to 14 10Hz RCOUT 10 1024
RFND Rangefinder sensor information 10Hz CTUN 4 16
RSSI Received Signal Strength Indicator for RC receiver 10Hz RCIN 6 64
SIDD System ID data SCHED_LOOP_RATE / 1 ATTITUDE_FAST and ATTITUDE_MED 1 and 0 3
SIDD System ID data SCHED_LOOP_RATE / 2 ATTITUDE_FAST 0 2
SIDD System ID data SCHED_LOOP_RATE / 4 ATTITUDE_MED 0 1
SIDD System ID data SCHED_LOOP_RATE / 8 - - 0
SIDS System ID settings SCHED_LOOP_RATE / 1 ATTITUDE_FAST and ATTITUDE_MED 1 and 0 3
SIDS System ID settings SCHED_LOOP_RATE / 2 ATTITUDE_FAST 0 2
SIDS System ID settings SCHED_LOOP_RATE / 4 ATTITUDE_MED 0 1
SIDS System ID settings SCHED_LOOP_RATE / 8 - - 0
TERR Terrain database information ~ 5 Hz GPS 2 4
TRIG Camera shutter information on event CAMERA 15 32768
UBX1 uBlox-specific GPS information (part 1) ~ 5 Hz GPS 2 4
UBX2 uBlox-specific GPS information (part 2) ~ 5 Hz GPS 2 4
VIBE Processed (acceleration) vibration information 10Hz IMU or IMU_FAST or IMU_RAW 19 or 18 or 7 -
VSTB Motor mixer information SCHED_LOOP_RATE VIDEO_STABILISATION 20 1048576
WINC Winch 10Hz Any any any
XKF0 EKF3 beacon sensor diagnostics 25Hz if ATTITUDE_FAST is set, else 10Hz - - -
XKF1 EKF3 estimator outputs 25Hz if ATTITUDE_FAST is set, else 10Hz - - -
XKF2 EKF3 estimator secondary outputs 25Hz if ATTITUDE_FAST is set, else 10Hz - - -
XKF3 EKF3 innovations 25Hz if ATTITUDE_FAST is set, else 10Hz - - -
XKF4 EKF3 variances 25Hz if ATTITUDE_FAST is set, else 10Hz - - -
XKF5 EKF3 Sensor innovations (primary core) and general dumping ground 25Hz if ATTITUDE_FAST is set, else 10Hz - - -
XKFS EKF3 sensor selection 25Hz if ATTITUDE_FAST is set, else 10Hz - - -
XKQ EKF3 quaternion defining the rotation from NED to XYZ (autopilot) axes 25Hz if ATTITUDE_FAST is set, else 10Hz - - -
XKT EKF3 timing information 25Hz if ATTITUDE_FAST is set, else 10Hz - - -
XKV1 EKF3 State variances (primary core) 25Hz if ATTITUDE_FAST is set, else 10Hz - - -
XKV2 more EKF3 State Variances (primary core) 25Hz if ATTITUDE_FAST is set, else 10Hz - - -
3 Likes
53

@hwurzburg can you add the table above to the wiki?
Or can you tell me where you want me to add it?

54

Is the entire guide in the Wiki now?

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55

Wow, awesome job! these little guys have been an enigma when it came to ArduCopter. @amilcarlucas, what is the reasoning behind the two switch flight mode setup in lieu of the 6P switch? thanks.

56

Simply pilot preference. The 6 flight mode buttons in the middle of the TX16S are not easily reached

57

I agree with you there.

58

Updated Section 9: wind estimation

1 Like
59

Besides flashing a firmware of each vehicle type to the board to get the full complete initial default parameters that come with each version of the firmware, is there another way to get it?