Motor twitching/shaking while flying

ArduCopter
1

Hi guys!

My name is Jonas and I’m new to the world of drones.
I fly a Holybro X500 V2 from the development kit.

It includes:

  • Holybro 2216 KV920 Motor
  • 4 x BLHeli S ESC 20A
  • M10 GPS Module
  • Pixhawk 6C FC

I have been experiencing some issues with my quadcopter:
I flashed the Bluejay firmware 0.21.0 on them and after that they became unreadable by esc configurator and also blheli-configurator.exe. When I open the COM port selection process I can select either COM6 - bdshot or COM7 - bdshot. The errors are:

2025-02-07 @ 11:48:59 – Port already in use by another application - try re-connecting
2025-02-07 @ 11:48:59 – Failed resetting ESC 1 - power cycle and try again

The esc’s however still beep 5 times and i can still fly the drone but twitching occurs while flying. It seems like the drone becomes unstable for a second and the regains stability again. See the provided .bin file for further details. 00000082.BIN - Google Drive

Currently I’m following the methodic configurator and i stranded on the VTOL quicktune step 22, I didn’t want to do this yet because I need to resolve the twitching first.

Here are the temp callibration results:

gecallibreerde gyro_0 en gyro_1
gecallibreerde gyro_0 en gyro_1616×550 83.4 KB

gecallibreerde IMU_0 en IMU_1
gecallibreerde IMU_0 en IMU_1635×546 62.2 KB

Here are my notch filtering results:

notch filtering setup 1
notch filtering setup 11399×599 37.2 KB

Here are the vibex , vibey and vibez results on uav log viewer:

uav log viewer vibex_vibey_vibez
uav log viewer vibex_vibey_vibez1498×697 47.1 KB

And last but not least all my params.
x500 v2 params.param (19.2 KB)

If I messed some things up bad, let me know :slight_smile:

Kind regards,
Jonas

2

That is a nice .param file, but what we need is a zip file with all the files in the vehicle configuration directory.

3

Okay here is the complete zip of the copters directory https://drive.google.com/file/d/1YU4jU2YHbVOwA_T9cx_ZO7Gin0pOKLO3/view?usp=drive_link

4

That link is protected.

5

This one should be fine, sorry for the inconvenience. APM.zip - Google Drive

6

No, the vehicle configuration directory created by the ardupilot methodic configurator software.

This directory:

image
image841×690 203 KB

The one where all the .param files are and the vehicle_components.json file is.

BTW this procedure is described here

7

Holybro_X500_V2.zip (399.7 KB)
Oh I see, thx so much for clearing that up!

8

Do I have your permission to use a modified version of those files as a vehicle template in the AMC software?
It will be released under GPL3 license.

You did a good job in the components editor window. Most parameters are correctly set. But you did miss a lot of “reason changed” fields.

9

Yeah sure go ahead, you have permission.

I will take a further look to give a reason for the parameters.

10

Wait for the template to get published in a new release before doing that.

11

Okay I will thank you so much in advance already!!

12

Try the latest development release, not the stable release.
It contains your template with corrections.

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