Large quadcopter setup with 30" propeller

ArduCopter Copter 4.5
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1

Hallo all.

I have used pixhawk Cube Orange, dengan fimware V.4.5 and tuning has never been a problem for me. but I’m still confused about finding the right roll, pitch, PID values ​​so that my quadcopter is stable. using a 30" propeller and 12s battery with a frame width of 46". To try to make it stable I have lowered the value of the Roll/Pitch Sensitivity parameter by reducing it by 10% but that is the effect when in loiter mode, and when joistic pitch is played it will experience severe shaking. Please help to complete my quadcopter.

i will attach data.log
on this log I made several flights without removing the battery.

Thank You.

2

Hello @Firman_Fahrudin , welcome to the community,

use this software to get it done on the first attempt: Correctly configure ArduPilot for your vehicles on your first attempt | MethodicConfigurator

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3

You have the bi-directional DSHOT firmware installed but only using PWM, so unless you have DHSOT-capable ESCs you can go back to the standard firmware. Parameters will remain intact.

MOT_THST_EXPO,0 rings alarm bells!

You would have 0.77 for most normal ESCs with 30inch props, or probably 0.6 for T-Motor Alpha ESCs. The MOT_PWM_MAX and MOT_PWM_MIN are likely wrong.
After fixing those you will need to recheck the MOT_SPIN_ARM and MOT_SPIN_MIN values.

Tell us what ESCs you have.

Also definitely set these:

BATT_FS_CRT_ACT,1
BATT_FS_LOW_ACT,2
INS_ACCEL_FILTER,10
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,4

It really is best to work through the Methodic Configurator.

4

Thank you sir, this is very helpful to solve my problem to build a big quadcopter.

5

Sorry sir, is this esc also included in Dshot?

I use the esc as in the picture. Which is integrated with the motor.

IMG-20250116-WA0000
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7

They dont use DSHOT, so set all these then recheck the MOT_SPIN_ARM and MOT_SPIN_MIN values.

MOT_PWM_MIN,1050
MOT_PWM_MAX,1950
MOT_PWM_TYPE,0
MOT_THST_EXPO,0.77
8

OK sir, after I tried it the results have improved a little. but if the pitch is moved forward or backward, what happens to the turbulence in the drone, sir?

9

Do you mean the copter is unstable?
You would need to follow the tuning documentation - there’s plenty of info in this forum if you search and plenty in the documentation

10

yes, that’s right, sir. the quadcopter is not as stable. if after there is interference from the roll/pitch joistik.
i have read many forums about tuning large quadcopters. and also follow the instructions methodis. but it hasn’t solved my problem.
I will share my full parameters tomorrow after I return home.

11

This is for the log data, sir…

12

Post a .zip file with the files from the vehicle directory created by the methodic configurator. We can review that.

13

I have attended the event. but I also haven’t found the right settings for my quadcopter. Yesterday I followed method 1 to completion but my drone experienced very strong turbulence.

14

You are repeating yourself. So I will also repeat myself:

Post a .zip file with the files from the vehicle directory created by the methodic configurator. We can review that.

15

Your Quad-X seems to have a CG issue. The motors 1 and 3 spin higher, front heavier.
The drone has marginal okay vibration, which is not ideal.
Your mot_thst_expo is still zero.

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16

Sorry in advance sir, is this what you mean?

17

yes, that’s right, sir. I mot_thst_expo by filling it to 0 because previously I flew many times with a value greater than 0.2 which caused my vehicle to experience strong turbolension.

I followed some settings on this forum. Large copter crash on take off pixhawk cube black
and my quadcopter flies better than before, one of them is entering the value mot_thst_expo 0 , because my quadcopter is the same model as this

18

Also, you need to do the Harmonic Notch filter as described in the methodic configurator sequence.

I did not have this expo 0 setting before when using the Hobbywing motor. I will also try decrease the Loiter break delay and speed.

INS_HNTC2_ENABLE,0
INS_HNTCH_ENABLE,0
LOIT_BRK_DELAY,0.3
LOIT_SPEED,250

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19

You are using a very outdated version of the ArduPilot Methodic Configurator Software.
Please update to v1.1.4

Lots of parameters were not correct. Please unzip this and open this directory to see the new values.

Customframe.zip (174.6 KB)

The ESC settings and the notch filter were particularly bad!

20

if i use the source template with 43 propeller diameter but my quad propellers are 21 inches with TOW MAX 20KG, will this affect the flight performance? Or are there some settings that need to be changed?

21

Yes, you need to enter the correct tow and prop size in the gui. And you do need to follow the instructions presented at you in the browser

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