Log analysis, higher vibrations after autotune? Overall performance

ArduCopter
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1

Hello,

please, help me evaluate my copter’s performance. I just performed an autotune on all 3 axis and here I am sharing a log from my first test flight after:

https://drive.google.com/file/d/1ZrFUpUAA_TzRsoju_VaLlZS8OnIDJbgU

Honestly, I cannot see/feel much difference between now and before. The quad seems to fly just fine without any issues. But when I look into the logs and charts I see worse numbers.

This is VIBE (before the absolute max was 10-15 m/s):

graph_VIBE
graph_VIBE2400×1200 175 KB

And this is a “lean” comparison of AHR2.Roll and EKF1.Roll and EKF6.Roll (before the lines were on top of each other):

graph_leans
graph_leans2400×1200 247 KB

I don’t know what else to look for. And I don’t even know how really bad the performance and tune are, could you tell? When doing the autotune I lowered the aggressiveness to 0.084 (0.1 being the max).

Note. I don’t need the quad to fly fast nor to respond extremely quickly. I want to achieve a stable, reliable flight with minimum vibrations and risk of failure. God knows, maybe the log is good and I am worrying about nothing.

Any input or idea is very welcomed! Many thanks!

2

What prop size? You should have left the Auto Tune aggression at default (0.1).

3

@dkemxr I am sorry, the props are 10inch

4

I would reset the PID’s back to the Initial Tuning values. Configure the Dynamic Notch Filter. Set Auto Tune aggression to default (0.1) and then run Auto Tune again.

5

vibration level are acceptable but you can see noise pattern on it

Screenshot_15
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also they are visible on gyro and rates data

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Screenshot_18
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as Dave said configuring Dynamic Notch Filter could help to filter them but before configuring Dynamic Notch Filter check cilliping

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cilliping is meaning that your accelerometer reached its maximum , maybe something hitting your flight controller or …

6

Guys, thank you both for valuable inputs!

@dkemxr : Dave, I will do everything as you said, but I have to wait for a calm day first. As for the dynamic notch filter, I have to read up something on it. It looks promising.

@hosein_gh : Thanks a lot for the charts. About the clipping issue. I noticed there are 3 clipping data in log. VIBE.Clip0…2 As I see the first two are at 0 and the last one is drawing the line all the way to 55k. Could maybe a tiny loose telemetry cable be the culprit? Otherwise, everything is tied up and I don’t see what could be hitting the flight controller.
Also when I inspect some older logs I see the same issue with VIBE.Clip2