When I done a flight with fresh battery, everything seemed fine, I have seen no signs of oscillation. The weather was windy, but the drone was able to keep it’s position.
When the battery was well used (but above failsafe triggers) the motors were oscillating and the battery current was abnormally high due to constanty changing motor RPM.
Is there a parameter setting in the control loops to fix this behaviour of I just have to land and change battery? And increase failsafe voltage limit.
Are my motors/props mismatched to this TOW and this battery?
I think the source is either those legs either that small action camera at the front of the device.
Those legs are to provide space for a camera under the drone. The action camera is raised to that height because there’s a magnet inside the camera and that magnet disturbs the compass.
I will remove them and make a test flight. In 2026
More likely the vibration is a result not a cause. Perhaps it’s battery voltage compensation. Use the max and min values for Li-ion batteries, that’s not what you have. If that doesn’t improve the situation then PID’s will have to be addressed. IOW, it’s not a vibration issue.
From the low battery flight. Not seen on full charge:
A much better plan is to set those parameters before the flight. Use a multimeter to be sure that the reported voltage is correct, and only after that perform the test flight.
Also set the MOT_BAT_VOLT_MIN and MOT_BAT_VOLT_MAX parameters.
This test flight is a lot less dangerous than the one you planned.
Should be interesting. Of course these need to be set right but I’m not sure it’s the primary cause of the problem. I would love to be wrong about that so let’s see
As an aside get your logging parameters in order.
Disable these as you have Raw logging enabled:
INS_LOG_BAT_MASK
INS_LOG_BAT_OPT
By removing the landing gear (which is a big but lightweight component on the end of arms) the oscillation seems to be solved, but the question: I need some landing gear because I would like to mound a small camera under the drone.
How to start, what direction:
Use a more rigid material (carbon fiber tube?) for landing gear?
Mount landing gear closer to the center-of-gravity of the drone?
I had chance to go back to the field. However it was pretty cold (-6C) I kept the drone and battery at room temperature. Unfortunately I forgot to turn LOG_DISARMED off
I will fix it next time…
This applies ot the 3rd flight which I’m looking at. How are you concluding it’s oscillating? Seeing it, hearing it, from log review?
This looks like it could be D-term oscillation which we can address but need to know what you are describing.
The motors were not emitting a constant frequency during hovering. It sounded, something similar to this one, at the first 10 seconds, where the operator pushes heavy throttle:
