Servers by jDrones

Nimbus Tricopter VTOL

(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

2 Likes
(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!

(Musa Wilmar) #356

yes, i think i will but for now i will let it 0
btw, after swapping my pixhawk, the log file is appear… so it’s looks promising…

(Nathan E) #357

Your motor is also spinning when your prop isn’t (on the right one after the crash on the ground). Loose props could have done that too.

(Musa Wilmar) #358

hmmm… i could be… but my air crash investigation :smile: after that accident, i found that the prop hole is burn because of friction… so there is a friction between prop and motor but u are right it’s loose but i’m not sure that’s prop is already loose before or after the first hit… but for sure next time i better check all the prop bolt before take off… thanks…

(Graham D) #359

Just had the weirdest thing. Took the plane for a flight after a few weeks. Plane had flown fine the last time and hadn’t even been booted up since then.

Got an error that the trim values were lower than the minimum values and when I checked all 16 channels trim values were set at 874!?

How on earth does that happen? First time it’s booted in weeks and somehow all the trim values change?

Or is this just one of the idiosyncrasies of Ardupilot that we must accept?

(Greg Covey) #360

Hi Graham,

I have seen that issue as well. When it was most prominent on my Tarot 680 Pro hexacopter, I replaced the old Pixhawk 1 with a Pixhawk v2.4.8 (also Version 1) and it went away. On other VTOLS, a re-boot can fix it or simply reloading your parameters from the PC file can fix it. If the plane was recently used, I did not have an issue.

I had some suspicions that my older Pixhawk 1 FCs were just losing their flash capability and I had other suspicions that it was an ArduPilot firmware issue across platforms (Plane, Copter, Rover, etc). I have not booted my VTOLs in months so it might make for an interesting weekend test. Although it is officially Spring here, the weather is still poor.

Cheers!

(Musa Wilmar) #361

hmm… it make sense because i think i have experience this too… but after i load my last parameter it fix again…

(ovolkmann) #362

Hey guys, here is some info on using Q_Autotune incase you want to interrogate the logs and find out what went wrong on the last flight. The first two went well but didn’t complete Pitch tuning. VTOL QuadPlane Tricopter Autotune - CRASH