Only Auto mode vibration

ArduCopter Copter 4.1
1

Stabilize,Alt Hold,Loiter : Manual flight is not a problem.Very smooth.

But AUTO MODE start.

When it starts to move, a fine pitching vibration starts.
The first phenomenon, what could be the cause?
I tried rebooting several times, but the symptoms were the same.

1 Like
2

Too high position controller gains

1 Like
3

Hi sir,
Could i ask what parameter you were talking about " position controller gains" ?
Regards.
ThanhDat

4

If you mean about PIDs, I think theproblem would appear in all modes, but it only does in Auto for him as I understand.
@1111132 What is your wp_radius?

5

Best if you can post a link to a .bin log file.

1 Like
6

I’ve solved it.
I changed this parameter.
INS_GYRO_FILTER : 40=>80

Thanks, all comment.

My Copter made by Markforged Carbon 3D-Printer.
I made a modification to increase the rigidity.
This drone is a high-revving motor(1200KV-5S-LIPO) and propeller(HQ 9X5X3).

ATC_RAT_PIT_FLTD : INS_GYRO_FILTER / 2
ATC_RAT_PIT_FLTT : INS_GYRO_FILTER / 2
ATC_RAT_RLL_FLTD : INS_GYRO_FILTER / 2
ATC_RAT_RLL_FLTT : INS_GYRO_FILTER / 2
ATC_RAT_YAW_FLTE : 2
ATC_RAT_YAW_FLTT : INS_GYRO_FILTER / 2

1 Like
7

I’ve solved movie.

1 Like
8

that great bro!

9

Thanks for the report @1111132. The copter is looking good!

I actually don’t think that “Too high position controller gains” is the issue. Most users should not need to modify the PSC_ parameters for good flight.

Most of the time it is the low level rate control gains and to a lesser extent angle control gains that need to be modified for the vehicle. We have instructions here in the Tuning Process Instructions wiki page. It looks like OTA-san found this page and followed the advice and the problem is fixed which is great!

FYI @amilcarlucas, please note.