Plane 4.6.0 beta

ArduPlane Plane 4.6
63

@andyp1per , @rmackay9 ,

gents, there is a potential issue with forward motors in q-plane with bdshot escs,
suspected to be already present in ap4.6b2 and maybe earlier.

  • Audible knocking of forward motors in fixed-wing modes
  • ESC Telemetry RPM readings in logs “move” over all 4 ESCs while only 2 motors should be running

logs with ap4.6b4

1 Like
64

Can you record the noise? I ran into something like this in copter when developing the rate controller changes (which are in 4.6) and it was because spikes were being fed into the motors from the rate controller. As you can hear, this was all resolved in copter, but I wonder if there is a similar effect going on in plane. The other possibility is the changes in the notch filter code (again feeding zero into the motors). There are really no changes in bdshot in 4.6, so I think its unlikely that is the cause. Ideally I’d need to see a full rate log of the plane rates when this is going on.

2 Likes
65

I didn’t see this in the log Iooked at, can you post a log with this in?

66

Hi @menschel,

thanks for the report, I’ve added it to the 4.6 issues list so it is not forgotten

1 Like
67

That link has a log where the noise was happening in fixedwing mode. I’ll try to get you a video of it on the bench.

68

I’m noting the same clicking motor noise in forward flight modes (FBWA, Cruise, Manual) on 4.6. The motors sound normal in q-modes (qHover, qLoiter, qStabalize). I’m running a SpeedyBee f405 wing FC and SpeedyBee 4in1 ESC running BLheli32 and dshot600. No ESC telemetry/bdshot setup. I have throttle based notch filters set up but tried disabling the notch filters (INS_HTCTHand_ENABLE and INS_HTCT2_ENABLE set to 0) but the motor noise remains. The plane is a tilt rotor tri-plane. I’m away from my plane/logs currently but can share some logs next week if no one else shares before then. Other than the disturbing motor noise, the plane seems to fly just fine.

69

That was the log I looked at, but couldn’t see this “ESC telemetry switching” issue.

1 Like
70

I mean, in the logs, I see ESC telemetry instances and when I pass the mouse over the individual frames and let it show the point values, I see that 2 motors have rpm and two others don’t and the Index of the telemetry instance changes arbitrarily.

71

Can you provide a log?

72

Nope, but that is from Allisters log, gimp’ed together…

ESC_telem_jumps
ESC_telem_jumps2555×796 409 KB

73

I see nothing like that in allister’s log, what GCS are you using? If you simply plot the ESC data for a single motor you should see zeros. which is not the case.

74

I run on linux and currently APM-Planner oder QGroundControl are my choices.
That concatenated screenshot is from
APM-Planner_2-2.0.30-rc3-x86_64.AppImage

EDIT: Yes I see zeros.

ESC_telem_bounces_zero
ESC_telem_bounces_zero2556×1388 244 KB

75

APM planner is the issue. There are no zeros in the log for the forward motors. Look at the individual log messages. It will be messing up the instance numbers - it has had issues with this in the past, I thought I had fixed them all, but clearly not.

76

In that case I’m sorry, I was played for a fool by APM planner, MAVExplorer does not show this.

ESC_RPM
ESC_RPM2560×1316 310 KB

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77

I’ll need to provide a build with full rate motor and rate output logging if someone is willing to run this?

78

I’ve been able to get the noise on the bench in manual mode, so if you can get the data you need from a bench test then I’ll try it. Matek F405-VTOL (F405-TE BdShot)

79

Does the board have an sdcard?

80

Yes.

…

81

Please can you try and get a log with this. Please set the full rate attitude bit (bit 20). You might have to turn off other logging to avoid dropouts.
arduplane.zip (624.9 KB)

82

I’ll test it out tonight.

1 Like