I have reached the Harmonic Notch filtering step in the copter docs and am unsure how to interpret the frequency amplitude graph. There are some peaks its pretty chaotic, is it simply too noisy?
Its a 5in
I am trying to use Raw IMU logging and the Filter review tool from this guide.
https://ardupilot.org/copter/docs/common-raw-imu-logging.html#common-raw-imu-logging
Here is the log file from manul hover in stabilised mode.
It’s a waste of time to configure the notch filter when you have massive output oscillation.
Ah that explains the motor heating. I there a guide or should I just drop ATC_RAT_PIT_ and ATC_RAT_RLL_ pids till rcou is flatter?
With that thrust/weight set the Rate Pitch/Roll P&I values to ~0.07 and drop the D term in half. Or maybe lower but try that 1st. And you want ESC RPM as reference for the Notch filter either with Bdshot or serial telemetry if the ESC and FC supports it.
You could start over using The Configurator or continue with manual tuning if you know what to do.
Awsome that was it.
is this reasonable enough to do the harmonic analysis?
Currently running dshot600 on the escs I cant seem to connect to them to update them to use bdshot. Im running the speedybee f405 stack, unsure if its esc supports telemetry.
If they are BLHeli_S you may be able to flash Bluejay firmware and use Bdshot. But, I wouldn’t use a Speedybee Flight Controller for anything so not sure.
The outputs look good. These parameters for the notch filter should work well. You want to use Webtools to configure and analyze the notch filter:
Webtools
On 2nd thought set the bandwidth to 40Hz. 70Hz is overkill.
I’ve tried the paramaters in a flight and it looks pretty good thank you!
Still noise as high as -45 db but the quad feels fine in stabilised mode.
worth adding a static notch for the 120hz spike?
edit: wrong file
edit: set the wrong value for ref
