Oh that is good to hear. On that last flight I was really focusing on just hovering to make sure the hover learn was accurate. Now that I know I can set those params I’ll do a proper test flight.
I’m still learning to understand the logs; how can you tell it is sensitive to current from that graph? And also what would that mean?
I will run through the Magfit for sure. I’m still figuring out the best way since my only PC that can run MP is in my basement and figure it may not be the best place to do an indepth calibration?
Unfortunately the gps/compass module is directly off the back. I know it is poor placement. I intend on making a pedestal to sit centered and well above the battery but waiting on my friend to get filament. I intend on having the front and rear cameras on servos so they can be tilted so didn’t want to mount up front but I since it will be awhile I can remount it there.
Because the Mag signal is tracking the throttle output. But to know for sure you need more throttle action.
Magfit uses Flight Data to produce the mag offsets and motor compensation coefficients. Read the Wiki you will understand. You don’t use Mission Planner.
That location will give you nothing but trouble. You can try to put it on a tall mast it might improve it enough. You could possibly locate a seperate compass board in the front. They are tiny (and cheap). If you read the build log you will see that’s what Andy did on his 7". I was able to mount the GPS/module on the front on my 7"
Ahh sorry I was confused and was thinking the motor current was something else, that makes total sense now seeing the mag track it.
I just read that about the Magfit, that will work well then.
I will definitely try mounting on the front for now. I do have some barometer/compass modules but as I recall the barometer is same as onboard so I would somehow have to disconnect just barometer on external module?
This is really great, I appreciate the help thus far!
First flash the Bdshot version of firmware for that board and configure it. No reason not to use that. And Dshot600 should be no issue. I have 2 of those FC’s with 2 different 4in1’s and that’s what I configure for.
Ah, that’s a BLHeli_S ESC. I would not have bought that one. You will need some firmware on the ESC to attempt to get that working. I’m not sure if Bluejay is supported. Long thread about it: Bluejay
So I had verified it was most recent version of the BLHeli_S before. When I went in to check the params I noticed I had DSHOT600 selected but did not select the actual DSHOT protocol (BLHeli_S/option 2). Not sure how it worked on DSHOT300 but set that and it works fine now! I guess I thought it would automatically select that if it needed it. I do wish I knew better at the time to get the F50 Pro version that has BLHeli_32 but I guess I will know for next time.
I will check out the Bluejay thread. I have that on all my other quads and seems pretty nice.
I just took out for another test flight with some more throttle input and flying both ALTHLD and Stabilize. I have the gps/compass now mounted on the front. Unfortunately I forgot to calibrate beforehand but it was just a quick test to make sure all was working okay still.
Here is the log for that if you wouldn’t mind having a look? I know the mag will still be off but maybe can see if anything else major stands out that I should be looking at right now?
Not bad considering it’s on default PID’s. You will want to configure the dynamic notch filter before advancing with tuning. Set INS_LOG_BAT_MASK to 1 and make a simple hover flight in AltHold for a minute or so for log review.
Trying to learn this, using the FFT analyzer for ACC0 looks like I have a major peak at ~418hz at 1.7 amplitutde, secondary at 378hz and 1.3 amplitude, and then a couple of smaller at 140hz and 128hz 0.7 and 0.5 amp respectively. Am I reading that all correctly?
Ah sorry got mixed up with the other filter instructions. It looks like GYR0 is showing a spike at 418hz with a following minor at 382hz at 0.027amp, that spike with 323-463hz. Then another at about 140hz at just below 0.01. I’m having trouble understanding the next steps here.
What software is that? Mine shows that peak here as closer to the other and more rounded so I just felt like it was included in the 140 peak. I guess you would want to filter based on the entire (i.e. start of) waveform though?
Alright got INS_NHTCH_ENABLE=1, INS_HNTCH_FREQ=134, INS_HNTCH_BW=66, then set INS_LOG_BAT_OPT=2 for post filter analysis. Looks like made a good dent but still have some smaller peaks around that harmonic. Maybe increase bandwidth?
Thanks, that’s what I am using but it oddly showed a much more rounded part before that 134 peak. More just making sure I’m not missing something to give be better visuals. Here is that pre filter zoomed in on mine.
Disable the 2nd Notch Filter. And this is what you have on the 1st:
INS_HNTCH_ATT,40
INS_HNTCH_BW,76 (should be 67Hz)
INS_HNTCH_ENABLE,1
INS_HNTCH_FREQ,134
INS_HNTCH_HMNCS,3
INS_HNTCH_MODE,1 (throttle reference)
INS_HNTCH_OPTS,0
INS_HNTCH_REF,0 (This needs to be at MOT_THST_HOVER for throttle reference)
You have Dhsot configured but no ESC telemetry? The best option would be to flash the Bdshot version of the firmware for that board and use that as RPM reference for the notch.
But to answer your question the magnitude of those remaining peaks is in the mud and of no consequence.
MAVExplorer and MP seem to present the data slightly differently. At the end of the day I don’t think 134 vs 126 will make a really big difference, if any at all. Looking at the graph you posted above using 134 I’d say that works just fine and don’t mess with it. Then take Dave’s advice for the rest of the settings.
