MicroArduCopter, 3" props, Omnibus Nano, Success!

andyp1per · October 20, 2019, 2:48pm

It must be changeable - it is for me. There’s no way I could tune any of my small copters if I started at 0.001

dkemxr · October 20, 2019, 3:48pm

Set is as low as you want.

Alberto_Ds · October 20, 2019, 4:29pm

1E-05 does not work for me. Mission Planner says it is out of range and if I refresh the parameters, it still remains at 0.001 so autotune don’t start

dkemxr · October 20, 2019, 5:28pm

Power cycle the board after changing and saving the parameter value.

ambattuhari · October 21, 2019, 3:25am

clicking OK on MP’s out of range message, and clicking WriteParams again, works for me.

Alberto_Ds · October 21, 2019, 7:25pm

Works yep!

Thanks dkemxr and ambattuhari

maroquio · October 23, 2019, 12:49am

Hi, bro.
I received your request for the PID settings of my sub250g quadcopter. I’ll be in my lab tomorrow morning and I will do my best to remember to send it to you. Regards!

maroquio · October 23, 2019, 12:52am

My main reason is that I want to keep my quad below 250g to avoid bureaucracy when doing academic experiments. My current setup has only 118g including all sensors and a companion computer. With a 2S 18650 battery, it can fly for more than 25 minutes.

Alberto_Ds · October 25, 2019, 7:52pm

Thanks Ricardo!

Help friends!
I had a crash … on the ceiling! In alt hold it has always been quite unstable, but with half gas it often had a stable balance. While I was trying on alt hold, the quad went at full speed to the top, crashing into the ceiling !! I looked at the alt hold parameters and they look correct, but if I hold the quad and move the gas in alt hold mode (in sabilize it’s ok), sometimes it accelerates the motors to maximum. Could it be a problem with the barometer? I put some spray contact cleaner on the usb, could it have gone on the sponge-covered barometer?
These are the parameters of my alt hold. In stabilize it flies well … help!

|MOT_THST_HOVER|0,152483|

|PSC_ACCZ_I|0,3|
|PSC_ACCZ_P|0,15|

anbello · October 27, 2019, 9:52am

Hi @Alberto_Ds for the quad rocketing to roof I had a similar problem, see an old post by me in this thread (Sep 9), the cause (spiked vibrations) and the solution (FC dumping) was suggested by @Paul_Atkin1

andyp1per · October 27, 2019, 5:57pm

The other solution is maybe to try the notch filter - this makes my 3" quad incredibly smooth now

Alberto_Ds · October 28, 2019, 9:39am

Hi Andrea, thanks!
I ordered this … but I already have the rings mounted on my quad.
I try with double rings as soon as they arrive …

Alberto_Ds · October 28, 2019, 9:43am

Thanks Andy,

how can i set the notch filter?
Now is disable:

INS_NOTCH_ENABLE,0

anbello · October 28, 2019, 10:25am

Alberto I use this for damping my FC, I think is more effective

Alberto_Ds · October 28, 2019, 10:34am

I’ve only seen it right now … I’ve already sent . I’ll make a new one!

Thanks!

andyp1per · October 28, 2019, 11:35am

See this discussion https://discuss.ardupilot.org/t/how-to-work-with-the-notch-filter

Alberto_Ds · October 29, 2019, 7:26am

Thanks Andy,
i have read the discussion sul notch filter, but my FC (hakrc mini F4 quad 90mm 2" props) don’t have the SD card slot, so i don’t can read the log and i don’t know where is the vibrations spike and so i don’t know how to set the filter. Can i test something also without read the log?

andyp1per · October 29, 2019, 9:00am

I think you probably either need to use esc telemetry to set the notch if you have it or dynamic FFT. Neither of these are in 4.0 right now.

dkemxr · October 29, 2019, 12:49pm

You don’t need an SD card if that FC has flash space for Block logging. Awfully limited feature set if it doesn’t support that.

Alberto_Ds · October 29, 2019, 3:41pm

it doesn’t support that… for only 15 USD