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

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
IMG-20250116-WA0000400×400 18.8 KB

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