Servers by jDrones

Nimbus Tricopter VTOL


(Musa Wilmar) #336

it’s look like u don’t have enough air speed to transform from quad to plane…
check your airspeed… my nimbus transition speed is 11(ARSPD_FWB_MIN : 11), bellow that number your nimbus will difficult to control because it’s transition mode… just go forward until u get the enough speed and your plane will be good again…


(Musa Wilmar) #337

i think u have to put the airspeed sensor, it’s difficult to depend it only to the ground speed only… your plane will stall if u don’t have enough air speed…


(anibal manuel marques soutinho) #338

HI ,

here the log.

Thank you…
00000003.BIN


(rollys) #339

Full disclosure, I’m a PX4 user, not ArduPlane as @GregCovey knows. I’m hoping to just invoke a thought process that you may look for in the params to rectify your issue.

In PX4, assuming you’ve made tests with an airspeed sensor or know what throttle settings will guarantee the aircraft to not stall during different flight profiles, e.g. xx% at cruise; xx% during climb; xx% during descent, etc. There are params that you can do the following:

  • What throttle setting to ramp up/ advance to during transition, i.e. throttle percentage.
  • How many seconds to stay in the above-stated condition before fully transitioning to FW mode. In a quadplane, I’ve seen this set at 8 seconds. The determination of time based on tests to know that it has achieved flying speed. Transition is based on time assumed that it has reached the speed when the wings are aerodynamically effective to fly.

Good luck.


(anibal manuel marques soutinho) #340

HI Musa Wilmar

Thank you for your information. It is possible you send me your parameters, to compare with mine.

thank you

Best Regards


(Greg Covey) #341

Hi Anibal Manuel,

I’v been a bit busy so I will try to analyze your logs this weekend. We have posted many working .param files above so just look back for .param attachments.

Cheers!

P.S. The snow is finally melting!


(Musa Wilmar) #342

@GregCovey, @Graham_Dyer, @rollys, @Aticof i have this question… if i create flight plan on mission planer, do i have to put DO_CHANGE_SPEED to increase speed to above stall manually or it will automatically adjust speed above stall?


(Atico) #343

TRIM _ARSP_CM is the speed in AUTO , it is the CRUISE mode speed


(Musa Wilmar) #344

so basically if i want more speed in auto mode, i just change the TRIM _ARSP_CM…
and what your TRIM_ARSPD_CM value…? mine is 1200 cm/s…


(Atico) #345

Mine is 1600. And if you want to change the speed during one interval of the fly then you can change it with DO CHANGE SPEED command


(Musa Wilmar) #346

today is my darkness day… https://youtu.be/4qCxXeBMXqk
I have no logs from this crash … I hope you have an opinion about what I did wrong in this test …
basically I just set the flight plan and then arm the motor and switch to automatic mode from qstab …


(Atico) #347

Uffffs…, sorry. I put on your skin and my soul hurts. the message on the HUD in red >> terrain_enable = 1? I do not know if this could have caused the overturn.

Alt column of VTOL_LAND command should be zero but this os not the cause of crash


(Graham D) #348

Likewise, very sorry for your crash! Have you got the TLOG from telemetry?

That is very strange as the movement of the ailerons show that the flight controller was trying to correct the roll so it was wasn’t the flight controller. Musa, did you change or adjust anything on the plane?


(Graham D) #349

It may be irrelevant but in this screen grab the left motor prop has broken (after the first ground strike) but note it is not spinning as it should be even after the strike and broken prop. Complete loss of thrust in one motor could cause it to flip like that as the opposite motor can’t react quick enough to stop the rotation.


(Musa Wilmar) #350

@Graham_Dyer i don’t change anything except ARSPD_FWB_MIN from 12 to 15, but well i manage to repair it (with some duck tape and glue) … and i thinking about rewiring and change the pixhawk so next time i have the log to analyze… maybe before i do automation, at first i will fly manually just to make sure it all ok…


(Graham D) #351

Is the TLOG not on the PC?


(Greg Covey) #352

Anibal Manuel,

I looked at your 3.BIN log and could not graph anything in Mission Planner v1.3.62. I am not sure why it doesn’t work. It showed that you are using ArduPlane v3.9.5 with NuttX. All my newer setups are using ChibiOS. Is anyone else still using NuttX builds?

Musa,

That was painful to watch so I am glad that you are a master of “duck tape and glue”. When you get it flying manual again, try a more simple AUTO flight from the air. First, simply have the mission fly waypoints in plane mode. In this manner, you can manually take off and land the plane. Second, add the RTL (QRTL mode) to the end of the mission and let it land autonomously. This should provide better confidence for the final step of take-off and VTOL transition.

Good luck!


(Musa Wilmar) #353

yes, u are right… i will do simple at first… i decided to swap my pixhawk and rearrange all cable and connection, also change the SDcard with a new one, hopefully next time i will have the log file… and yes i do expert on duck tape hahahaha…
i just finish change my nimbus broken tail servo, after some servo trim it’s ready to fly again…


(Musa Wilmar) #354

and before it fly again, i have reset all my setting, reconfigure and re calibration all the input and sensor and set this parameter

PARAMETER Value
ARMING_CHECK 0
ARMING_REQUIRE 1
ARMING_RUDDER 2
ARSPD_FBW_MAX 25
ARSPD_FBW_MIN 14
ARSPD_USE 1
BATT_MONITOR 4
BRD_SD_SLOWDOWN 0
EK2_IMU_MASK 3
FLTMODE_CH 8
INS_ENABLE_MASK 3
LIM_PITCH_MAX 2000
LIM_PITCH_MIN -1500
LIM_ROLL_CD 4500
MIXING_GAIN 0,8
Q_A_RAT_PIT_P 0,35
Q_A_RAT_RLL_P 0,4
Q_A_RAT_YAW_D 0,07
Q_A_RAT_YAW_FF 0
Q_A_RAT_YAW_FILT 2,5
Q_A_RAT_YAW_I 0,05
Q_A_RAT_YAW_IMAX 0,5
Q_A_RAT_YAW_P 0,7
Q_ENABLE 1
Q_FRAME_CLASS 7
Q_M_SPIN_ARM 0,1
Q_RTL_ALT 30
Q_RTL_MODE 1
Q_RTL_MODE 1
Q_TILT_MASK 3
Q_TILT_MAX 65
Q_TILT_RATE_DN 50
Q_TILT_RATE_UP 200
Q_TILT_TYPE 2
Q_TILT_YAW_ANGLE 13
Q_TRANSITION_MS 3000
Q_VFWD_GAIN 0,05
Q_VFWD_GAIN 0,05
Q_WVANE_GAIN 0
Q_WVANE_MINROLL 3
RTL_RADIUS 0
SERVO1_FUNCTION 4
SERVO1_REVERSED 1
SERVO10_FUNCTION 76
SERVO2_FUNCTION 80
SERVO2_REVERSED 1
SERVO3_FUNCTION 0
SERVO4_FUNCTION 79
SERVO5_FUNCTION 33
SERVO6_FUNCTION 34
SERVO7_FUNCTION 10
SERVO8_FUNCTION 36
SERVO9_FUNCTION 75
TERRAIN_ENABLE 0
THR_FAILSAFE 1
TRIM_ARSPD_CM 1500

is there any unusual on my parameter?


(Greg Covey) #355

Musa,

The parameters seem fine. Remember to change ARMING_CHECK back to 1 and do a full check before flying.

Good luck!