Continue to seek advice on solutions for lifting with ropes
I need the drone to take off with a throttle of about 0.2, and the vibration situation is shown in the following picture
After I lifted the cargo onto the drone, the throttle was about 0.38, and the vibration was as shown in the following picture
Can I set INS-HNTCH-ENABLE to INS-HNTCH-REF=0.2 and INS-HNTCH-FERQ=82
Then press INS-HNTC2EneBLE to press INS-HNTC2-REF=0.38 INS-HNTCH-FERQ=60
Set up 2 filters to solve the filtering situation between no-load and full load? But this brings another problem, because each time the load is different, is there a better way to solve it,
I have also considered using RPM, but my drone has 16 motors and I am concerned that the MCU computing power of the flight control may not be sufficient
Can you try using ESC RPM telemetry?
By using that the filter frequency will automatically change with the payload.
There may also be issues with using ESC, as my drone has 16 motors and the 16 data points may not be able to be calculated by the MCU.
If you can’t calculate it, it will be even more troublesome, but you can give it a try.
It will either:
- calculate the average of the 16 motors and use a single wide notch to filter them all, or
- Use 16 narrow notches, one per motor. To very selectively filter out the motor generated noise.
You can choose between the two depending on the flight controller processor load
I also was always curious whether I need to setup two notch filter on our copter.
Our payload is always same and after releasing the payload, the copter became a slightly unstable on descending.
What I’ve done on the copter is quiktune ‘without payload’ and it was stable while flying with it.
I’d love to get some insight about our situation from here too.
Wirh non hobby vehicles that must perform under any condition, you should use one of the many consultancy services provided by the ArduPilot developers.
Only then can you be sur that it will be correctly configured