Hello the comunity ,
I’m build and learn my quadcopter from about 1 year now and I would like to know what I’m doing right and wrong to improve my experience.
I’ve recently switched from mode 1 to Mode 2 with my transmitter and updated my copter to V3.2.1
Fro the first time I’ve tried the Autotune feature, but the results aren’t very good, I’ve to try it again to improve the config. My quadcopter was flying very well before without special tuning adjustement.
I then would like to know in view of my logs if I use correctly and safely my quad ?
Also, I 'vejust ordered a Pixhawk order to evolve my experience.
Thanks for your sharing.
Last logs APM log analysis
[code]APM Log File Analiser v2.1.0.1
Log FileName: C:\Program Files (x86)\Mission Planner\logs\QUADROTOR\1\2015-04-17 12-22-12.log
Ardu Version: V3.2.1 Build: (36b405fb)
Ardu Type: ArduCopter
Hardware: Unknown
HW Free RAM: Not Available
HW Version:
Frame Type: X
No. Motors: 0
Data Found in APM Log File:-
IMU, GPS, CTUN, PM, CURR, NTUN, MSG, ATUN, ATDE, ATT, MODE, EV, DU32, BARO
Data NOT Found in APM Log File:-
MOT, OF, MAG, CMD, INAV, STRT, D16, DU16, D32, DFLT, PID, CAM, ERR, GPS2, IMU2, IMU3, MAG2, MAG3, AHR2, EKF1, EKF2, EKF3, EKF4, TERR, UBX1, UBX2, RCIN, RCOU, POWR, RAD, SIM
PARAMETER ISSUES:-
MOT_SPIN_ARMED = 70
Advice: If motors do not spin when armed calibrate ESC and then try increasing
the parameter MOT_SPIN_ARMED up from 70 in small increments.
http://ardupilot.com/forum/viewtopic.php?f=25&t=5345&sid=3171087bcf7d84e03491e1845eaa9393
RTL_ALT = 700
Warning: Return to Launch Altitude is less than 15 meters (Value in CM)
RTL_LOIT_TIME = 3900
Warning: Return to Launch Loiter Time is less than 5 seconds (Value in ms)
COMPASS_OFS_X = -26
COMPASS_OFS_Y = 181
COMPASS_OFS_Z = 62
Warning: One or more compass offset is not set correctly (-150 to +150 recommended).
INS_PRODUCT_ID = 0
Warning: Unknown Ardupilot Hardware Detected.
TUNE = 0
Information: CH6 Tuning is Disabled
06/01/1980 - 000339: Mode Changed to Stabilize
06/01/1980 - 000339: Mode Initialised at 0 0 Alt: 0 Spd:0
06/01/1980 - 000340: Armed
Limited Data Available - Mode Ignored
06/01/1980 - 000341: Mode Changed to Stabilize
06/01/1980 - 000341: Mode Initialised at 0 0 Alt: 0 Spd:0
17/04/2015 10:22:28 - 000345: Take Off
17/04/2015 10:22:28 - 000345: Mode Time Changed to 17/04/2015 10:22:28
17/04/2015 10:22:31 - 000404: APM Information: Home is Set
17/04/2015 10:22:31 - 000404: Simple Mode is Disabled
17/04/2015 10:22:31 - 000404: APM Information: RC Pre-Arm checks have been completed.
17/04/2015 10:22:31 - 000404: APM Information: All Pre-Arm checks have been completed.
17/04/2015 10:22:31 - 000404: APM Information: USB is NOT Connected.
17/04/2015 10:22:31 - 000404: Rx Information: CH7 Switch is Low.
17/04/2015 10:22:31 - 000404: Rx Information: CH7 function: Enable / Disable Auto Tune
17/04/2015 10:22:31 - 000404: Rx Information: CH8 Switch is Centred.
17/04/2015 10:22:31 - 000404: Rx Information: CH8 function: Disabled
17/04/2015 10:22:33 - 000577: Auto Mode is waiting for Throttle.
Alt(m ~ ft) Spd(m/s ~ mph) Dist(km ~ mi) Launch(m ~ ft) GPS-Sats GPS-Hdop Eff(mA/min)
Max 7 ~ 22 1 ~ 2 0.00 ~ 0.00 3.83 ~ 12.56 10 1.43 N/A
Avg 1 ~ 3 0 ~ 0 N/A ~ N/A N/A ~ N/A 10 1.43 ~~~
Min -3 ~ -10 0 ~ 0 N/A ~ N/A 0.00 ~ 0.00 10 1.43 N/A
Stabilize Flight Time (Session)= 14 seconds, 0:14
Stabilize Flight Time (Total)= 14 seconds, 0:14
17/04/2015 10:22:43 - 001460: Mode Changed to Loiter
17/04/2015 10:22:43 - 001460: Mode Initialised at 49.856642 5.2898025 Alt: 7.01 Spd:0.85
Alt(m ~ ft) Spd(m/s ~ mph) Dist(km ~ mi) Launch(m ~ ft) GPS-Sats GPS-Hdop Eff(mA/min)
Max 9 ~ 29 1 ~ 2 0.00 ~ 0.00 6.25 ~ 20.49 10 1.43 N/A
Avg 8 ~ 26 0 ~ 0 N/A ~ N/A N/A ~ N/A 10 1.43 ~~~
Min 7 ~ 22 0 ~ 0 N/A ~ N/A 3.91 ~ 12.84 10 1.43 N/A
Loiter Flight Time (Session)= 7 seconds, 0:07
Loiter Flight Time (Total)= 21 seconds, 0:21
17/04/2015 10:22:51 - 002142: Mode Changed to AltHold
17/04/2015 10:22:51 - 002142: Mode Initialised at 49.856624 5.2898132 Alt: 9.17 Spd:0.57
Limited Data Available - Mode Ignored
17/04/2015 10:22:51 - 002158: Mode Changed to 425
17/04/2015 10:22:51 - 002158: Mode Initialised at 49.8566245 5.2898124 Alt: 9.16 Spd:0.18
17/04/2015 10:22:51 - 002159: AUTOTUNE_INITIALISED
17/04/2015 10:22:52 - 002212: Rx Information: CH7 Switch is High.
17/04/2015 10:22:52 - 002212: Rx Information: CH7 function: Enable / Disable Auto Tune
17/04/2015 10:23:45 - 007680: AUTOTUNE_REACHED_LIMIT
17/04/2015 10:25:29 - 018198: AUTOTUNE_REACHED_LIMIT
17/04/2015 10:26:11 - 022588: AUTOTUNE_SUCCESS
17/04/2015 10:26:28 - 023975: AUTOTUNE_OFF
Alt(m ~ ft) Spd(m/s ~ mph) Dist(km ~ mi) Launch(m ~ ft) GPS-Sats GPS-Hdop Eff(mA/min)
Max 11 ~ 36 6 ~ 13 0.39 ~ 0.24 33.25 ~ 109.08 10 1.59 N/A
Avg 9 ~ 29 1 ~ 2 N/A ~ N/A N/A ~ N/A 9 1.42 481.66
Min 8 ~ 26 0 ~ 0 N/A ~ N/A 4.76 ~ 15.62 9 1.41 N/A
425 Flight Time (Session)= 217 seconds, 3:37
425 Flight Time (Total)= 238 seconds, 3:58
17/04/2015 10:26:28 - 023976: Mode Changed to Loiter
17/04/2015 10:26:28 - 023976: Mode Initialised at 49.8564583 5.2900904 Alt: 9.72 Spd:1.32
17/04/2015 10:26:59 - 026573: LAND_COMPLETE_MAYBE
Alt(m ~ ft) Spd(m/s ~ mph) Dist(km ~ mi) Launch(m ~ ft) GPS-Sats GPS-Hdop Eff(mA/min)
Max 10 ~ 32 4 ~ 8 0.02 ~ 0.01 34.63 ~ 113.60 10 1.41 N/A
Avg 7 ~ 22 0 ~ 0 N/A ~ N/A N/A ~ N/A 10 1.41 ~~~
Min -2 ~ -7 0 ~ 0 N/A ~ N/A 19.58 ~ 64.24 10 1.41 N/A
Loiter Flight Time (Session)= 30 seconds, 0:30
Loiter Flight Time (Total)= 268 seconds, 4:28
17/04/2015 10:26:59 - 026586: Mode Changed to Stabilize
17/04/2015 10:26:59 - 026586: Mode Initialised at 49.8565979 5.2900393 Alt: 0.88 Spd:0.04
17/04/2015 10:26:59 - 026649: Landed
Limited Data Available - Mode Ignored
17/04/2015 10:27:04 - 027049: Armed
Limited Data Available - Mode Ignored
17/04/2015 10:27:04 - 027050: Mode Changed to Stabilize
17/04/2015 10:27:04 - 027050: Mode Initialised at 49.8565952 5.290036 Alt: 1.22 Spd:0.03
17/04/2015 10:27:17 - 027099: Rx Information: CH7 Switch is Low.
17/04/2015 10:27:17 - 027099: Rx Information: CH7 function: Enable / Disable Auto Tune
17/04/2015 10:27:20 - 027355: Take Off
17/04/2015 10:27:20 - 027362: Auto Mode is waiting for Throttle.
Alt(m ~ ft) Spd(m/s ~ mph) Dist(km ~ mi) Launch(m ~ ft) GPS-Sats GPS-Hdop Eff(mA/min)
Max 6 ~ 19 5 ~ 11 0.01 ~ 0.01 36.18 ~ 118.69 10 1.58 N/A
Avg 1 ~ 3 1 ~ 2 N/A ~ N/A N/A ~ N/A 9 1.42 ~~~
Min -3 ~ -10 0 ~ 0 N/A ~ N/A 21.64 ~ 71.00 9 1.41 N/A
Stabilize Flight Time (Session)= 8 seconds, 0:08
Stabilize Flight Time (Total)= 276 seconds, 4:36
17/04/2015 10:27:28 - 028062: Mode Changed to Loiter
17/04/2015 10:27:28 - 028062: Mode Initialised at 49.8565595 5.2902384 Alt: 5.97 Spd:3.08
Alt(m ~ ft) Spd(m/s ~ mph) Dist(km ~ mi) Launch(m ~ ft) GPS-Sats GPS-Hdop Eff(mA/min)
Max 9 ~ 29 3 ~ 6 0.01 ~ 0.01 45.89 ~ 150.56 10 1.41 N/A
Avg 7 ~ 22 1 ~ 2 N/A ~ N/A N/A ~ N/A 10 1.40 ~~~
Min 6 ~ 19 0 ~ 0 N/A ~ N/A 36.73 ~ 120.50 10 1.4 N/A
Loiter Flight Time (Session)= 13 seconds, 0:13
Loiter Flight Time (Total)= 289 seconds, 4:49
17/04/2015 10:27:41 - 029191: Mode Changed to PosHold
17/04/2015 10:27:41 - 029191: Mode Initialised at 49.8565385 5.2903703 Alt: 8.38 Spd:0.44
Alt(m ~ ft) Spd(m/s ~ mph) Dist(km ~ mi) Launch(m ~ ft) GPS-Sats GPS-Hdop Eff(mA/min)
Max 75 ~ 246 22 ~ 49 0.39 ~ 0.24 131.52 ~ 431.49 10 1.83 N/A
Avg 43 ~ 141 7 ~ 15 N/A ~ N/A N/A ~ N/A 9 1.43 ~~~
Min 6 ~ 19 0 ~ 0 N/A ~ N/A 8.74 ~ 28.69 8 1.4 N/A
PosHold Flight Time (Session)= 52 seconds, 0:52
PosHold Flight Time (Total)= 341 seconds, 5:41
WARNING: Less than 9 Satellites was detected during this mode.
17/04/2015 10:28:34 - 033712: Mode Changed to RTL
17/04/2015 10:28:34 - 033712: Mode Initialised at 49.8561922 5.2900615 Alt: 69.62 Spd:4.85
17/04/2015 10:29:09 - 036870: APM Speed Error: The total number of sustained loops 1003
17/04/2015 10:29:09 - 036870: APM Speed Error: A one off here could be ignored but if repeated in this log,
17/04/2015 10:29:09 - 036870: APM Speed Error: then try disabling some logs, for example INAV, MOTORS and IMU.
17/04/2015 10:29:57 - 041194: LAND_COMPLETE_MAYBE
17/04/2015 10:29:58 - 041267: Landed
Alt(m ~ ft) Spd(m/s ~ mph) Dist(km ~ mi) Launch(m ~ ft) GPS-Sats GPS-Hdop Eff(mA/min)
Max 70 ~ 229 4 ~ 8 0.06 ~ 0.04 55.81 ~ 183.12 10 1.58 N/A
Avg 37 ~ 121 0 ~ 0 N/A ~ N/A N/A ~ N/A 9 1.40 452.86
Min -2 ~ -7 0 ~ 0 N/A ~ N/A 20.90 ~ 68.57 9 1.39 N/A
RTL Flight Time (Session)= 84 seconds, 1:24
RTL Flight Time (Total)= 84 seconds, 1:24
17/04/2015 10:29:58 - 041268: Armed
Limited Data Available - Mode Ignored
17/04/2015 10:29:58 - 041269: Mode Changed to Stabilize
17/04/2015 10:29:58 - 041269: Mode Initialised at 49.8565931 5.2900368 Alt: 0.11 Spd:0.03
17/04/2015 10:30:07 - 041470: Take Off
17/04/2015 10:30:07 - 041497: Auto Mode is waiting for Throttle.
17/04/2015 10:30:13 - 042001: Auto Mode is waiting for Throttle.
Alt(m ~ ft) Spd(m/s ~ mph) Dist(km ~ mi) Launch(m ~ ft) GPS-Sats GPS-Hdop Eff(mA/min)
Max 8 ~ 26 2 ~ 4 0.01 ~ 0.01 27.10 ~ 88.93 10 1.84 N/A
Avg 1 ~ 3 0 ~ 0 N/A ~ N/A N/A ~ N/A 9 1.46 ~~~
Min -4 ~ -14 0 ~ 0 N/A ~ N/A 21.60 ~ 70.86 9 1.39 N/A
Stabilize Flight Time (Session)= 16 seconds, 0:16
Stabilize Flight Time (Total)= 357 seconds, 5:57
17/04/2015 10:30:23 - 042855: Mode Changed to AltHold
17/04/2015 10:30:23 - 042855: Mode Initialised at 49.856504 5.2900468 Alt: 7.95 Spd:1.41
Alt(m ~ ft) Spd(m/s ~ mph) Dist(km ~ mi) Launch(m ~ ft) GPS-Sats GPS-Hdop Eff(mA/min)
Max 9 ~ 29 7 ~ 15 0.02 ~ 0.01 30.71 ~ 100.75 10 1.57 N/A
Avg 7 ~ 22 2 ~ 4 N/A ~ N/A N/A ~ N/A 9 1.43 ~~~
Min 7 ~ 22 0 ~ 0 N/A ~ N/A 24.60 ~ 80.72 9 1.39 N/A
AltHold Flight Time (Session)= 8 seconds, 0:08
AltHold Flight Time (Total)= 365 seconds, 6:05
17/04/2015 10:30:31 - 043507: Mode Changed to Loiter
17/04/2015 10:30:31 - 043507: Mode Initialised at 49.8565566 5.290061 Alt: 8.91 Spd:1.33
17/04/2015 10:30:53 - 045445: LAND_COMPLETE_MAYBE
17/04/2015 10:30:54 - 045523: Landed
Alt(m ~ ft) Spd(m/s ~ mph) Dist(km ~ mi) Launch(m ~ ft) GPS-Sats GPS-Hdop Eff(mA/min)
Max 10 ~ 32 3 ~ 6 0.02 ~ 0.01 25.71 ~ 84.34 10 2.01 N/A
Avg 6 ~ 19 0 ~ 0 N/A ~ N/A N/A ~ N/A 9 1.45 ~~~
Min -2 ~ -7 0 ~ 0 N/A ~ N/A 22.97 ~ 75.37 8 1.39 N/A
Loiter Flight Time (Session)= 22 seconds, 0:22
Loiter Flight Time (Total)= 387 seconds, 6:27
WARNING: Less than 9 Satellites was detected during this mode.
Limited Data Available - Mode Ignored
17/04/2015 10:30:54 - 045562: Mode Changed to AltHold
17/04/2015 10:30:54 - 045562: Mode Initialised at 49.8565811 5.2900808 Alt: -0.17 Spd:0.03
Limited Data Available - Mode Ignored
17/04/2015 10:30:55 - 045630: Mode Changed to Stabilize
17/04/2015 10:30:55 - 045630: Mode Initialised at 49.8565802 5.2900814 Alt: -0.08 Spd:0.09
WARNING: DataLog File Truncation Issue Found
WARNING: This is an issue within the ArduCopter Firmware, APM Log Analyser has handled the issue.
Overall Flight Summary:
Alt(m ~ ft) Spd(m/s ~ mph) Dist(km ~ mi) Launch(m ~ ft) GPS-Sats GPS-Hdop
Max 75 ~ 246 22 ~ 49 0.96 ~ 0.60 131.52 ~ 431.49 10 2.01
Avg 0 ~ 0 0 ~ 0 N/A ~ N/A N/A ~ N/A 9 1.42
Min 0 ~ 0 0 ~ 0 N/A ~ N/A N/A ~ N/A 9 1.39
Power Summary:
Battery(V) Vcc(V) Current(A) Used Cap(mAh) Eff(mA/mim)
Max 12.35 5.19 68.14 3788 N/A
Avg 0.00 0.00 28.60 N/A 477.48
Min 8.89 5.12 1.51 N/A N/A
Overall Flight Time = 476 seconds, 7:56
Full Vibration Summary (exceptions filtered):
AccX AccY AccZ Spd Alt
Max 02.459 06.468 -02.056 21 75.00
Min -07.083 -06.040 -23.421 01 02.00
Datalines: 1041 ~ 45904
WARNING: HIGH Levels of Vibration Detected, recommended not to fly!
WARNING: See the Vibration Section on this web link:
http://copter.ardupilot.com/wiki/common-diagnosing-problems-using-logs/
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