Oscillate at specific height

ArduCopter Copter 4.5
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1

hey all. any one can help me?
i dont understand why my quad start oscillate at specific height.
At a height of 5 meters my drone is fine, but when it reaches above 10 meters it starts to oscillate
this is my log log

2

I’m not seeing exactly what you are describing. Please point to a specific time area in the log.
EDIT: maybe an oscillation in pitch axis, that has nothing to do with altitude

I do see some slight oscillation during descent - maybe the MOT_THST_EXPO is too high. I suspect it should be more like 0.5 or even slightly lower.
Please describe your copter in some detail.

Also there is a huge difference in output between clockwise and counter-clockwise motors, which indicates motor mount or frame twist. If you can fix this and rerun Autotune everything should be quite a bit better.
EDIT: Ah, I see you’ve moved the motors around, so it’s a COG/weight imbalance - the copter might benefit from being better balanced.

image
image1486Ă—811 22.5 KB

Also you can leave these set:

INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,4

so we can see if the Harmonic Notch Filter is set up correctly and doing it’s job.

3

hey, thanks for your answer. this is my new flight log log

i think its because of poor pitch axis PID. i have done quiktune alos autotune.
but when flight in poshold or loiter myquad begin oscillate

  • Frame : DC Rajawali Krakatoa 7inch

  • Flight Controller: Matek H743 Slim V1

  • ESC: Holybro Teko32 f4 65A

  • GPS: Sologood GPS M10-180C

  • Motors: Eco II 2807 1300KV

  • Battery: Li-ion 6S3P 9000mah
4

You haven’t used ArduPilot methodic configurator software, have you?

1 Like
5

no, im not using Ardupilot methodic configurator

6

Ok, thanks fof letting us know.

7

Try these as a starting point, and fix that big weight imbalance first

ATC_ACCEL_Y_MAX,72000
ATC_ANG_PIT_P,18
ATC_ANG_RLL_P,18
ATC_ANG_YAW_P,11
ATC_RAT_PIT_D,0.002
ATC_RAT_PIT_I,0.10
ATC_RAT_PIT_P,0.10
ATC_RAT_RLL_D,0.0015
ATC_RAT_RLL_I,0.08
ATC_RAT_RLL_P,0.08
ATC_RAT_YAW_D,0.02
ATC_RAT_YAW_I,0.02
ATC_RAT_YAW_P,0.2
BATT_FS_CRT_ACT,1
BATT_FS_LOW_ACT,3
FFT_MAXHZ,550
FFT_MINHZ,70
FFT_NUM_FRAMES,2
FFT_OPTIONS,0
FFT_WINDOW_SIZE,128
GPS_GNSS_MODE,5
INS_HNTCH_BW,25
INS_HNTCH_FREQ,50
MOT_THST_EXPO,0.54

You can copy/paste all these into notepad and save as “updates.param” then load them all via MissionPlanner / Full Parameter List / Load from File (top right)

You can also try GPS_GNSS_MODE,65 but dont select a whole lot of things like you had.

3 Likes
8

You should configure for Bdshot and use Bdshot ESC RPM for the Notch filter. You have the Bdshot firmware and it’s configured for Dhot600, why not?

9

When i set SERVO_BLH_BDMASK = 15, at firs arming my esc beeping and some of motor not spinning, i must disarm and re arm

10

Usually because all the required parameters are not set.The hardware you have is commonly used with Bdshot. Did you configure these?
SERVO_DSHOT_ESC
SERVO_DSHOT_RATE

11

Yes I have configured it.
SERVO_DSHOT_ESC = 1
SERVO_DSHOT_RATE = 0

Pada tanggal Sen, 29 Jul 2024 08.09, Dave via ArduPilot Discourse <noreply@ardupilot.org> menulis: