Large drone for agricultural processing, pid and all

ArduCopter Copter 4.4
, , ,
1

We have:
batteries 12 with 44 amps
frame 1600, 6 motors
motors 8318 100 kW
esc 120 a
propellers 3012
empty weight 19 kilograms
payload 10 kg
take-off weight 29 kilograms.

I want to get recommendations for initial PIDs, and there is a nuance: it doesn’t have a current sensor, I can’t find a suitable one…

2

Look harder, you need one. And use ArduCopter 4.4.1 or newer

1 Like
3

But which one? Can I assemble it myself?I’ve never seen such a high current

4

Set the Initial Tune Parameters and set these:
INS_ACCEL_FILTER,10
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,4
Make a hover flight and then set these from Hover throttle:
PSC_ACCZ_I
PSC_ACCZ_P
Make another flight and check for vibration levels and output oscillation. If there is high vibes, fix it. If the outputs oscillate lower the Rate PID’s until they don’t. But typically a craft of that size requires higher than default PID’s.
Configure the Notch filter.
Get to tuning.

1 Like
5

Thank you! Tell me, does this flight controller have internal vibration isolation?

S22858fe2afc84bb58841b605f031f5f4B
S22858fe2afc84bb58841b605f031f5f4B800×800 45.2 KB

6

The Ardupilot Docs say it does. SIYI N7

7

Thank you ! I couldn’t find this

8

I would like to use options like this

Q_A_RAT_PIT_P: 0,3

Q_A_RAT_RLL_P: 0,3

Q_A_RAT_YAW_P: 0,4

Q_A_RAT_PIT_I: 0,15

Q_A_RAT_RLL_I: 0,15

9

…

QuadPlane parameters? So that’s a HexaPlane? :thinking:

1 Like
10

I found them on this site, I also want to use the data from the table
Prop Size 30 inches Battery Cell Count 12 Battery Chemical Type LipoHV
Arducopter 4.2+ BATT_ARM_VOLT 44,30 Don’t allow arming below this voltage
ATC_ANG_YAW_P 1,5 Changed parameter name in 4.2, see above BATT_CRT_VOLT 42,00 Critical voltage x no. of cells
BATT_LOW_VOLT 43,20 Low voltage x no. of cells
Arducopter 4.0 to 4.1 MOT_BAT_VOLT_MAX 52,20 High voltage x no. of cells
ACRO_YAW_P 1,5 Uses new formula MOT_BAT_VOLT_MIN 39,60 Critical voltage x no. of cells
ATC_ACCEL_P_MAX 21800
ATC_ACCEL_R_MAX 21800
ATC_ACCEL_Y_MAX 9000 After test flights and hover learning
ATC_RAT_PIT_FLTD 10 Do not go below 10 ATC_THR_MIX_MAN 0,5
ATC_RAT_PIT_FLTE 0 PSC_ACCZ_I 0,4 2xMOT_THST_HOVER
ATC_RAT_PIT_FLTT 10 Do not go below 10 PSC_ACCZ_P 0,2 Enter MOT_THST_HOVER here
ATC_RAT_RLL_FLTD 10 Do not go below 10
ATC_RAT_RLL_FLTE 0
ATC_RAT_RLL_FLTT 10 Do not go below 10 Suggested settings
ATC_RAT_YAW_FLTD 0 BATT_FS_CRT_ACT 1
ATC_RAT_YAW_FLTE 2 BATT_FS_LOW_ACT 2
ATC_RAT_YAW_FLTT 10 Do not go below 10 FENCE_ACTION 3
ATC_THR_MIX_MAN 0,1 Set to 0.5 after test flights FENCE_ALT_MAX 50 Adjust for safety or local laws
INS_ACCEL_FILTER 10 10 is the new default FENCE_ENABLE 1 Wait for valid GPS 3D fix
INS_GYRO_FILTER 20 Large frames start with 20 FENCE_RADIUS 100 Adjust for safety or local laws
MOT_THST_EXPO 0,77 Uses new formula FENCE_TYPE 3 Radius + Altitude
MOT_THST_HOVER 0,2 Hover Learn will fix this
T-Motor FLAME ESCs
MOT_THST_EXPO 0,40 Debatable
Arducopter 3.6 and earlier MOT_PWM_MIN 1100
ACRO_YAW_P 1 Uses old formula MOT_PWM_MAX 1940
ATC_ACCEL_P_MAX 21800
ATC_ACCEL_R_MAX 21800
ATC_ACCEL_Y_MAX 9000 Harmonic Notch Filter Estimates only !
ATC_RAT_PIT_FILT 10 Do not go below 10 INS_HNTCH_ENABLE 1 New REF 0,17
ATC_RAT_RLL_FILT 10 Do not go below 10 INS_HNTCH_MODE 1 Throttle-based Your actual FREQ 60
ATC_RAT_YAW_FILT 2 INS_HNTCH_REF 0,17 Calced from MOT_THST_HOVER Your actual BW 30
ATC_THR_MIX_MAN 0,1 Set to 0.5 after test flights INS_HNTCH_FREQ 30 Use logs to verify this
INS_ACCEL_FLTER 10 10 is the new default INS_HNTCH_BW 15
INS_GYRO_FLTER 20 Large frames start with 20 INS_HNTCH_FM_RAT 0,7
MOT_THST_EXPO 0,80 Uses old formula INS_LOG_BAT_MASK 1
MOT_THST_HOVER 0,2 Hover Learn will fix this INS_LOG_BAT_OPT 4
Harmonic Notch Filter Estimates only !
INS_HNTCH_ENABLE 1
INS_HNTCH_MODE 3 ESC RPM-based
INS_HNTCH_REF 1
INS_HNTCH_FREQ 24 Use logs to verify this
INS_HNTCH_BW 12
INS_HNTCH_FM_RAT 1
11

@Ilya_Smolnikov

Re. current sensor have a look at his one or some of the others that company has:

1 Like
12

excellent option, but needed at 350 in peak

13

Just use a hall sensor then with a suitable output voltage range.

I.e.

1 Like
14

Do you have the link to the spreadsheet?
The Initial Parameters section in MissionPlanner does most of the same job.
I can guess what motors you have but what ESCs do you have?

1 Like
15

Why don’t you just follow the standard configuration and tuning process?

16

Yes, this is the table I use

17

do you mean this Frame Class and Type Configuration — Copter documentation? I’ll have it in my hands in a couple of weeks and start setting it up

18

EA-85A regulators but I can’t find the datasheet

19

I mean what I summarized in the reply to your 1st post.

20

I don’t understand English well, but you gave excellent advice in your first post, thanks, I’ll do that