Working on a series of all-weather capable quads. I’ve never really given much attention to tuning when building fixed wing planes because, I kind of just fly them… (‘-’)
I set up initial tuning as per the “Initial Tune Parameters” and the first flight was just perfect. I haven’t done auto-tuning yet, and only updated ATC_THR_MIX_MAN from 0.1 to 0.5 after the flight.
Ran through all modes during the flight. Stabilize, Loiter, AltHold, PosHold, RTL, Land. Landed perfectly in RTL mode (although it flew backwards to home)
It’s a 15", 4014 400KV, Pix6, 2x3S in serial, AP 4.5.7 MP 1.3.82
I’m viewing logs from the flight and deciding on what to tweak before the next flight.
Welcome to the forum Johann. You have several things to address on this craft.
1st, it is overweight/underpowered. The MOT_THST_HOVER is a hint but the RC Output’s at hover are the proof. What’s the take-off weight?
The vibe levels are high with X-vibes >40 which is worrisome. What frame do you have?
You have Dhot1200 configured, not advisable. Dshot600 is. But you are configured for PWM outputs so Dshot is not being used. What ESC’s do you have?
There are other things to ID here (motor ranges) but perhaps your best bet is to reset to default and start over with the Methodic Configurator
But, for sure you will have to adress the Thrust/weight and vibe issues before doing much else.
I haven’t weighed it accurately, I have a range of motors, ESCs, and batteries. This one is a bit on the heavy side, but I actualy intend to make it heavier. I’ve got more powerful motors, 16" and 17" props, and 16" T-Motor variable-pitch props also.
But this one is supposed to be a sort of middle-ground test platform to select different configurations going forward.
The frame is based on the CAD file for the HolyBro x650 - 3D printed with diferent lengths of motor arms. A waterproof aerodynamic fuselage, and many other changes. I have much more experience building fixed wing UAVs than quads.
Thanks for pointing out the Dshot1200. I have a Cube Orange FD with PX4 firmware, and I’m sure I’ve mixed up the setup on the Pixhawk 6X when configuring it previously in QgroundControl. I didn’t realize that I’d also set PWM outputs. I’ve got LEDs on MAIN and the Motors on AUX 1-4
The ESCs are Tekko32 F4 45A ESC but I also have four T-Motor AIR 40A ESCs that are meant for the third prototype. The Tekko’s do support Dshot1200 but I’d already ascertained from reading tips on this forum that I should rather use Dshot600
I already have the seemingly awesome Methodic Configurator. I did however opt to test, tune, and configure manually from the start to get a better feel for the whole process all te way through.
I’ll start with the vibe issue. I know what’s causing it. And do another test flight tomorrow with updated parameters.
So these are either BLHeli_32 or AM32, either way you should be using the Bdshot version of firmware for the 6X and configuring for Bdshot. I would bin the T-Motor Airs as old stuff…
I finally had time between eruptions and customer flights to throw up the updated test drone. I was in such a hurry that I flew it with 3 16-inch blades and one 15-inch blade. I’m deeply ashamed of myself. I didn’t notice until after I landed though (‘-’)
I have two 3S 98000 mAh batteries in serial. The idea here is to have 3S power to do an emergency landing in case one of them fails. But they are 100P and a bit on the heavy side. I do have a bunch of 6S 10Ah and 22Ah Tattu batteries aswell to use for production.
I just wanted to confirm that BdShot is working and solve an issue with power settings where it keeps going to RTH way too early.
I figured this out. But the instructions are for an older version of the AM32 configurator. I’m stop where it gives me BAD OR NO ACK FROM ESC using the same COM port I use for USB on 115200 baud
I swapped it to the AUX1-4 for a test and I’m able to connect now on the MAVLink COM port through USB. Here’s the firmware and settings readout that I have.
I got confused because my other drones are using Cube Orange FD with PX4 firmware. (the AUX and MAIN ports locations are swapped) I really want to use Ardupilot firmware on all of them but I need LEDs, RemoteID, ADSB, along with all the usual stuff.
I’m willing to compile firmware and go through whatever hassle there is to acheive this. I’ll find time today or tomorrow to test fly.