Hi forum members,
On the second maiden-flight I noticed two issues with the quad:
1st issue - the quad was behaving erratically in the Loiter mode (it starts in this mode).
The motor were spinning at varying speed, you could tell from the changing sound they were making.
But when I switched it to the Stable mode, it became more quite and was much easy to maneuver and the motors were spinning at an even rate.
2nd issue - On activating the RTL it is 3-5 meters off from the original spot from where it takes off.
Please find attached the log file containing the parameters.
Hopefully it should give some clue as to which settings are too high or low and need tweaking.
Thank you in advance.
It is not allowing me to add a file, I tried attaching a word doc and a text file both were rejected.
What type of file can I attach?
#NOTE: 27/05/2015 12:58:47 PM Frame :
ACRO_BAL_PITCH,1
ACRO_BAL_ROLL,1
ACRO_EXPO,0.3
ACRO_RP_P,4.5
ACRO_TRAINER,2
ACRO_YAW_P,4.5
AHRS_COMP_BETA,0.1
AHRS_GPS_GAIN,1
AHRS_GPS_MINSATS,6
AHRS_GPS_USE,1
AHRS_ORIENTATION,0
AHRS_RP_P,0.1
AHRS_TRIM_X,-0.01185033
AHRS_TRIM_Y,0.007421249
AHRS_TRIM_Z,0
AHRS_WIND_MAX,0
AHRS_YAW_P,0.1
ANGLE_MAX,4500
ARMING_CHECK,1
ATC_ACCEL_RP_MAX,0
ATC_ACCEL_Y_MAX,0
ATC_RATE_FF_ENAB,0
ATC_RATE_RP_MAX,18000
ATC_RATE_Y_MAX,9000
ATC_SLEW_YAW,1000
BAROGLTCH_ACCEL,1500
BAROGLTCH_DIST,500
BAROGLTCH_ENABLE,1
BATT_AMP_OFFSET,0
BATT_AMP_PERVOLT,18.0018
BATT_CAPACITY,2200
BATT_CURR_PIN,12
BATT_MONITOR,3
BATT_VOLT_MULT,10.1
BATT_VOLT_PIN,13
BATT_VOLT2_MULT,1
BATT_VOLT2_PIN,-1
CAM_DURATION,10
CAM_SERVO_OFF,1100
CAM_SERVO_ON,1300
CAM_TRIGG_DIST,0
CAM_TRIGG_TYPE,0
CH7_OPT,4
CH8_OPT,0
CIRCLE_RADIUS,1000
CIRCLE_RATE,20
COMPASS_AUTODEC,1
COMPASS_DEC,0
COMPASS_EXTERNAL,1
COMPASS_LEARN,1
COMPASS_MOT_X,0
COMPASS_MOT_Y,0
COMPASS_MOT_Z,0
COMPASS_MOTCT,0
COMPASS_OFS_X,-74
COMPASS_OFS_Y,-18
COMPASS_OFS_Z,0
COMPASS_ORIENT,8
COMPASS_USE,1
DCM_CHECK_THRESH,0.8
EKF_CHECK_THRESH,0.8
ESC,0
FENCE_ACTION,1
FENCE_ALT_MAX,100
FENCE_ENABLE,1
FENCE_MARGIN,2
FENCE_RADIUS,300
FENCE_TYPE,1
FLOW_ENABLE,0
FLTMODE1,5
FLTMODE2,0
FLTMODE3,6
FLTMODE4,0
FLTMODE5,2
FLTMODE6,6
FRAME,1
FS_BATT_ENABLE,2
FS_BATT_MAH,0
FS_BATT_VOLTAGE,10.5
FS_GCS_ENABLE,1
FS_GPS_ENABLE,1
FS_THR_ENABLE,1
FS_THR_VALUE,1084
GND_ABS_PRESS,100500.7
GND_ALT_OFFSET,0
GND_TEMP,30.92452
GPS_HDOP_GOOD,230
GPS_NAVFILTER,8
GPS_TYPE,1
GPSGLITCH_ACCEL,1000
GPSGLITCH_ENABLE,1
GPSGLITCH_RADIUS,200
HLD_LAT_P,1
INAV_TC_XY,2.5
INAV_TC_Z,5
INS_ACCOFFS_X,-0.0516469
INS_ACCOFFS_Y,0.07555352
INS_ACCOFFS_Z,-0.4765994
INS_ACCSCAL_X,0.9989395
INS_ACCSCAL_Y,1.005266
INS_ACCSCAL_Z,0.9884661
INS_GYROFFS_X,-0.02399283
INS_GYROFFS_Y,-0.0295454
INS_GYROFFS_Z,-0.01741063
INS_MPU6K_FILTER,0
INS_PRODUCT_ID,0
LAND_REPOSITION,1
LAND_SPEED,39
LOG_BITMASK,830
LOITER_LAT_D,0
LOITER_LAT_I,0.5
LOITER_LAT_IMAX,1000
LOITER_LAT_P,1
LOITER_LON_D,0
LOITER_LON_I,0.5
LOITER_LON_IMAX,1000
LOITER_LON_P,1
MAG_ENABLE,1
MIS_RESTART,0
MIS_TOTAL,0
MNT_ANGMAX_PAN,4500
MNT_ANGMAX_ROL,4500
MNT_ANGMAX_TIL,0
MNT_ANGMIN_PAN,-4500
MNT_ANGMIN_ROL,-4500
MNT_ANGMIN_TIL,-9000
MNT_CONTROL_X,0
MNT_CONTROL_Y,0
MNT_CONTROL_Z,0
MNT_JSTICK_SPD,0
MNT_MODE,3
MNT_NEUTRAL_X,0
MNT_NEUTRAL_Y,0
MNT_NEUTRAL_Z,0
MNT_RC_IN_PAN,0
MNT_RC_IN_ROLL,0
MNT_RC_IN_TILT,6
MNT_RETRACT_X,0
MNT_RETRACT_Y,0
MNT_RETRACT_Z,0
MNT_STAB_PAN,0
MNT_STAB_ROLL,0
MNT_STAB_TILT,0
MOT_SPIN_ARMED,70
MOT_TCRV_ENABLE,1
MOT_TCRV_MAXPCT,93
MOT_TCRV_MIDPCT,52
OF_PIT_D,0.12
OF_PIT_I,0.5
OF_PIT_IMAX,100
OF_PIT_P,2.5
OF_RLL_D,0.12
OF_RLL_I,0.5
OF_RLL_IMAX,100
OF_RLL_P,2.5
PHLD_BRAKE_ANGLE,3000
PHLD_BRAKE_RATE,8
PILOT_ACCEL_Z,300
PILOT_VELZ_MAX,300
POSCON_THR_HOVER,344
RATE_PIT_D,0.002
RATE_PIT_I,0.08
RATE_PIT_IMAX,1000
RATE_PIT_P,0.1
RATE_RLL_D,0.002
RATE_RLL_I,0.08
RATE_RLL_IMAX,1000
RATE_RLL_P,0.1
RATE_YAW_D,0.003
RATE_YAW_I,0.02
RATE_YAW_IMAX,1000
RATE_YAW_P,0.17
RC_FEEL_RP,66
RC_SPEED,490
RC1_DZ,30
RC1_MAX,1892
RC1_MIN,1086
RC1_REV,1
RC1_TRIM,1500
RC10_DZ,0
RC10_FUNCTION,0
RC10_MAX,1900
RC10_MIN,1100
RC10_REV,1
RC10_TRIM,1500
RC11_DZ,0
RC11_FUNCTION,0
RC11_MAX,1900
RC11_MIN,1100
RC11_REV,1
RC11_TRIM,1500
RC2_DZ,30
RC2_MAX,1890
RC2_MIN,1084
RC2_REV,1
RC2_TRIM,1487
RC3_DZ,30
RC3_MAX,1913
RC3_MIN,1099
RC3_REV,1
RC3_TRIM,1101
RC4_DZ,40
RC4_MAX,1939
RC4_MIN,1133
RC4_REV,1
RC4_TRIM,1537
RC5_DZ,0
RC5_FUNCTION,0
RC5_MAX,1912
RC5_MIN,1106
RC5_REV,1
RC5_TRIM,1106
RC6_DZ,0
RC6_FUNCTION,0
RC6_MAX,1110
RC6_MIN,1106
RC6_REV,1
RC6_TRIM,1496
RC7_DZ,0
RC7_FUNCTION,0
RC7_MAX,1913
RC7_MIN,1106
RC7_REV,1
RC7_TRIM,1496
RC8_DZ,0
RC8_FUNCTION,0
RC8_MAX,1900
RC8_MIN,1100
RC8_REV,1
RC8_TRIM,1496
RCMAP_PITCH,2
RCMAP_ROLL,1
RCMAP_THROTTLE,3
RCMAP_YAW,4
RELAY_PIN,13
RELAY_PIN2,-1
RNGFND_FUNCTION,0
RNGFND_GAIN,0.8
RNGFND_MAX_CM,700
RNGFND_MIN_CM,20
RNGFND_OFFSET,0
RNGFND_PIN,-1
RNGFND_RMETRIC,1
RNGFND_SCALING,3
RNGFND_SETTLE_MS,0
RNGFND_STOP_PIN,-1
RNGFND_TYPE,0
RSSI_PIN,-1
RSSI_RANGE,5
RTL_ALT,3000
RTL_ALT_FINAL,373
RTL_LOIT_TIME,5000
SCHED_DEBUG,0
SERIAL0_BAUD,115
SERIAL1_BAUD,57
SIMPLE,0
SR0_EXT_STAT,2
SR0_EXTRA1,10
SR0_EXTRA2,10
SR0_EXTRA3,2
SR0_PARAMS,10
SR0_POSITION,3
SR0_RAW_CTRL,2
SR0_RAW_SENS,2
SR0_RC_CHAN,2
SR1_EXT_STAT,2
SR1_EXTRA1,2
SR1_EXTRA2,2
SR1_EXTRA3,2
SR1_PARAMS,0
SR1_POSITION,2
SR1_RAW_CTRL,2
SR1_RAW_SENS,2
SR1_RC_CHAN,2
STB_PIT_P,4.7
STB_RLL_P,4.7
STB_YAW_P,4
SUPER_SIMPLE,0
SYSID_MYGCS,255
SYSID_SW_MREV,120
SYSID_SW_TYPE,10
SYSID_THISMAV,1
TELEM_DELAY,0
THR_ACCEL_D,0
THR_ACCEL_I,2.002
THR_ACCEL_IMAX,1000
THR_ACCEL_P,1.001
THR_ALT_P,1
THR_DZ,100
THR_MAX,1000
THR_MID,550
THR_MIN,130
THR_RATE_P,6
TRIM_THROTTLE,344
TUNE,0
TUNE_HIGH,1000
TUNE_LOW,0
WP_YAW_BEHAVIOR,2
WPNAV_ACCEL,100
WPNAV_ACCEL_Z,100
WPNAV_LOIT_JERK,800
WPNAV_LOIT_SPEED,1000
WPNAV_RADIUS,200
WPNAV_SPEED,500
WPNAV_SPEED_DN,150
WPNAV_SPEED_UP,250
Newozuser