Hello everyone,
I’m using ArduCopter 4.5.7 on my Quad!
After the initial setup and harmonic notch filter adjustment, I performed an AutoTune. At first, everything was fine and the motors were not overheating (although I only checked the motor temperatures during the first flights in Stabilize and AltHold modes). However, after adding the payload and getting a bad feeling about the motors - the way they were flying and the sound they were making - I checked their temperatures and found that they were hot!
To address this, I tried reducing the D-term in the PID settings to lower the motor temperatures. This was somewhat successful: the front motors (Motors 1 and 3) showed lower temperatures, but the rear motors (Motors 2 and 4) remained hot and had significantly higher temperatures.
Upon checking the logs, specifically the RCOU section (motors C9 to C12), I noticed that the rear motors are working harder than the front motors. However, I don’t think this explains everything.
But man, those vibe levels are really high even realizing they are from flight dynamics. You have Dshot configured but no telemetry. Can you flash the Bdshot version of firmware and configure for that and configure the notch filter to use it?
So you’re suggesting I set up HNTCH using the ESC telemetry method?
I don’t think the main issue is with the HNTCH parameters—I arrived at these values using the throttle-based method, and they seem to work well.
But I’ll definitely try what you suggested and let you know how it goes!
I don’t think so either but Bdshot RPM is a much better reference for the notch filter and in turn could produce a better tune. There is something odd with the Notch filter parameters:
It’s disabled yet the parameters are there. Maybe it’s an artifact of the parameter extraction. Do you see it this way when connected? Batch logging is disabled so can’t check it.
Oh, you’re right!
I was doing a little test to see the effect of HNTCH on the flight and motor issues, so I disabled it. My bad-I accidentally uploaded that log file .
Today, I will upload my flight log with batch logging enabled for you to check.
.