Notch Filter & Pids Results Recommendation/Review

ArduCopter Copter 4.5
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1

Hi

I am have assembled a drone not my first but this size is smaller than my usual builds.

I have set the notch filters and autotune.

I am attaching bin file for the same if any developers could have a look and advise if any changes required in regards to notch filter and pids. If that looks good then I would proceed with magfit.

I had to skip the temp calibration step as of yet.

Details

mn5008 t motors
17 inch prop
Quad x
Lion 22ah 6s
T/O weight- 4.4kgs

Log-

Initial altitude 5m in alt mode for notch filter result test and later part I flew in loiter mode at altitude above 10m. Both test had to finish in one flight

2

What did you see when you opened this log with the Filter Review Tool?
And with no Attitude logging how would you review the PID’s?

3

Yeah I realised that later after making this post , will need to do another flight

4

I followed the normal procedure of setting up the frequency etc as per the peak and since there is no esc telem throttle based tunning pram was set.

Is this what your question was ?

5

Disable INS_RAW_LOG_OPT
And 15Hz is too low for the Gyro filter.

6

So when this was around 30-115hz
The estimated and post filter values were close to pre filter.

I shall still try this with 20hz and then look at the logs maybe

7

Use the Initial Tune Parameters tool in Mission Planner and set it to what it produces.

8

hi
so did multiple flights and the best results in terms of drone flying was with 20hz gyro filter.
115hz the drone kept pitching forward and toppling nose down during take off and at 60hz set it was doing it reverse and at times the drone flew but in alt mode lot of thrst and altitude change.
so i finalzed with 20hz
log for the same - notch filter flight.bin - Google Drive

i was unable to enable the maghfit prams, even the software error kept coming and kept retrying so skipped the magfit flight and finished the autotune.
a flight was made in loiter mode and attitude logging was on.

log - post autotune , all step done.bin - Google Drive

i will now have to figure out the issue with enable magfit and then make a magfit flight.

9

Last flight so INS_HNTCH_FREQ =52 because of the previous flight as below.

newplot(26)
newplot(26)1200×450 40.8 KB

2nd Last flight
INS_HNTCH_FREQ- 28 and saw a peak at 52 hz so then changed to 52.

newplot(27)
newplot(27)1200×450 34 KB

from above two i understand that INS_HNTCH_FREQ show be 28 and along with that 1st harmonic 2nd harmonic also on.

10

The standard Gyro filter setting for a 17" craft is 27Hz. Not sure what you are getting at.

Not sure what you mean by this either. Magfit is a post flight process done with either Web Tools or MAVExplorer.

And your Throttle Notch Filter has no reference so it’s not doing anything. I would use these:

Notch
Notch336×410 63 KB

You may want to start over and use the Methodic Configurator.

11

@sauravhobyy we already spoke a couple of times, and I thought you understood that you should be using ArduPilot Methodic Configurator to avoid these and other beginner mistakes. Can you help me understand why you are still not using the software?

12

I did use the software

Except temp cal ( because this drone is going to fly at a same location and there will be 10-15 mins of time when the autopilot will be powered enough time to get it warmed up )

Rest all steps were followed when I reached the magfit setup file, it asked to reboot to get magfit pram enabled and then it kept giving error( shall share tom ) so had to connect to MP and there was not magh prams. So just to continue the day i went ahead wit other steps of tuning keeping in mind that I would have to restart the tuning process.

14

Ok I wil start from first flight notch filter. Again tomorrow. Rest pids and other prams I have got so that might help too.

I am unable to get any prams regarding magh enable.

15

Are you using ArduCopter 4.5.7 and ArduPilot methodic configurator 1.0.2?

Please update. It will give the correct frequencies if you provide correct information in the component editor window.

16

If you do not post the exact error message I can not fix it.

17

Yes using the same updated one

18

image
image1600×1200 334 KB

image
image1600×1058 281 KB

19

i did a flight using the settings you advised.

the log for the same is here -notch filter test .bin - Google Drive

newplot(30)
newplot(30)1200×450 43.8 KB
INS_GYRO_FILTER,27
INS_HNTCH_FREQ,28
INS_HNTCH_BW,14
INS_HNTCH_ATT,40
INS_HNTCH_REF,0.16
INS_HNTCH_FM_RAT,0.8
INS_HNTCH_HMNCS,1
INS_HNTCH_OPTS,0
INS_HNTCH_ENABLE,1
INS_HNTCH_MODE,1

20

That error is caused by not having lua scripting enabled. Either the FW has no lua support or the scripting parameter is not enabled.

So… user side error.

The notch settings look okisch.

I would need a dB graph to adjust the attenuation

21

cube ornage has lua support. i wil check if scr is enabled or not