Today, I conducted multiple test on a system with the following specifications:
T motor MN5006 450 KV motor
15-inch propeller
QUAD X
Velox 45A 4 in 1 ESC
Cube Orange plus
During multiple endurance test with a 1kg payload (AUW was around 5.7 kg) at 5 m altitude in loitre flight mode, the drone experienced a descent after 7, 12, 30 minutes of hovering respectively. A “potential thrust loss (2)” message appeared, and I observed that motors getting stopped in mid-air. I couldn’t determine the issue from the log.Log
I would suspect the ESC is reducing output or cutting off due to low voltage or high temperature.
It would be worth the effort to set up bi-directional DSHOT at least - then you’ll have the motor RPM. If that ESC is BLHELI_32 or AM32 you can get much more data too.
I’m fairly certain you would see the RPM going down even though the flight controller is commanding more output (and it is in the log I looked at → Motors 3 and 4).
There’s some instability in attitude control and that could be causing the motors and ESC to heat up unnecessarily.
I think you should probably configure the harmonic notch filter and set all the correct battery parameters. What battery pack do you have? I couldnt exactly tell from the settings you have in place now.
Start with these harmonic notch filter settings:
ATC_INPUT_TC,0.20
ATC_RAT_YAW_I,0.05
ATC_RAT_YAW_P,0.5
ATC_THR_MIX_MAN,0.5
INS_HNTCH_ENABLE,1 // write this then refresh params to see the rest
INS_HNTCH_MODE,1
INS_HNTCH_BW,30
INS_HNTCH_FREQ,60
INS_HNTCH_FM_RAT,0.7
INS_HNTCH_HMNCS,3
INS_HNTCH_REF,0.28
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,4
PSC_ACCZ_I,0.64
PSC_ACCZ_P,0.32
Just do a short test flight, dont do any more endurance tests until tuning is completely finished.
Provide the next .bin log and we’ll go over what needs to be adjusted next.
Then you will be able to run Autotune to sort out the stability and handling.