I flew this morning with the changes. Pitch and roll seem better. Yaw is very slow, so I’ll try the higher P value next time around. Motors are nice and cool.
With the longer flight I got some data on current consumption. I haven’t calibrated the 2nd current sensor (where the quad motors are powered), but I got lucky on the battery usage and have a fairly accurate measurement of current used. I’m drawing ~30 Amps @ 6s in hover which seems reasonable. I have 4 T-Motor F40 ProIII motors driving HQProp DP 6x4x3V1SB propellers. Since each motor is capable of doing 30 Amps, I’m only using about 25% of the possible power to hover.
However, the motors don’t appear evenly loaded.
The front left and right rear motors are loafing compared to the other two. I’m guessing that this is to fight yaw, but it seems fairly extreme. In QHover, it’s quite noticeable, but in QLoiter the front left motor drops all the way to (what looks like) a minimum value for as long as 4 or 6 seconds at a time.
Could this be because I’m 10-15mm too tail heavy? Here’s a pic of the plane showing the location of the quad motors.
Current weight is 1910 grams, 548 of which is battery.