Plane 4.6.0 beta

ArduPlane Plane 4.6
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Possible fix: RC_Channel: make pwm_to_angle_dz_trim and pwm_to_range_dz full resolution by andyp1per · Pull Request #29465 · ArduPilot/ardupilot · GitHub

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Hos would i go about testing the fix? Where do i download the fimrware. Im using a heewing fx-405 v2 and a matek f405 TE bdshot

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It’s not fixed. Still tracking it. Might have to bisect to the culprit.

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Hi Allister,
To help narrow this down, can you try a few things:

  • try with dshot, but not bdshot (set SERVO_BLH_BDMASK=0)
  • try without dshot, just using PWM
  • try in FBWA versus MANUAL mode (they go via different code paths)
  • try with VTOL motor test

I’m hoping the results of these tests might narrow down the possible cause, then we can start giving you test firmware versions to bisect down to a particular change.
I’ve tried to reproduce here in bench testing and have not seen the problem unfortunately.
thanks for your help!

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I’ve been doing a number of bench tests with Andy, so maybe check with him to see what he’s figured out. We’ve done tests with various logging and filters. I haven’t turned off bdshot or tried PWM yet, but I can.

I was hearing the noise in flight in FBWA and FBWB/Loiter. I’ve only been bench testing in manual. The VTOL motor test and running in Q-Stab on the bench (or hover flight in any Q mode) made no unusual noise.

Do you want me to test from 4.6.0Beta 4 or do you have another version for me to test from?

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Hi Allister,
Unfortunately @andyp1per is on holiday at the moment, can you send me the logs?
Also, please let me know if the noise happens at constant throttle or only when you move the throttle, and can you try disabling quadplane (ie. Q_ENABLE=0) and settings up the motors on the bench as normal forward motors and see if the noise happens.
Thanks!

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I’ve had the same experience. The noise is constant in FBWA, Cruise, and Manual but is normal in qStabalize, qLoiter, and qHover.

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have you also tried 4.5.7 to see if it has the same issue?
we’re struggling to find what might have changed with 4.6.0 that could have caused this, so more confirmation that the behaviour has definately changed in 4.6.0 would be appreciated

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4.5.7 works normally. I to have this issue in 4.6.0. Its only in all fixed wing flight modes. During vtol the noise is totally gone. When i used throttle based notches and pwm motor control i didnt hear the noise. Only when i enabled bdshot and esc notches did the noise return.

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I did see some knocking I figured it was a hardware issue wait for it.

I like to say when your in uncharted territory you’re designing and printing by the time your populating with hardware and programing the plane/VTOL it can be hard to report things. I going to make rev 2 so I will keep track better.

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I think that one must be a physical mount issue, it is happening in in VTOL modes (motors are up) whereas other reports of the knocking are only in forward flight modes

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@Squirrel5 @Schisis @Allister @menschel could I get you to test 3 scenarios:

  • disable BDShot, but leave DShot enabled (so SERVO_BLH_BDMASK=0)
  • disable DShot (so use PWM to drive the motors)
  • re-enable BDShot, but set Q_ENABLE=0 and setup the motors as standard forward motors (so SERVOn_FUNCTION=70)

which of the above 3 scenarios has the knocking issue may help us to narrow down which subsystem the issue is coming from.
Thanks!

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I confirm that, on the bench, i do not experience this kind of issue in fwd or vtol modes.

PWM escs and no notch filter enabled.

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No noise using pwm. I have another vtol on pwm. It runs perfect

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Yes, I get noise in fixed wing modes, but not in Q modes.

No noise in this configuration.

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My small “traditional” plane, the zohd drift with bdshot / dshot600 / bluejay esc, does not show this issue.

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@andyp1per @Squirrel5 @Schisis @Allister @menschel let’s see if we have correctly narrowed down the issue. From the above I conclude that:

  • the issue happens with both BDShot and DShot
  • it only happens when in forward flight modes
  • it doesn’t happen when Q_ENABLE=0 and the same motor is set as SERVOn_FUNCTION=70
  • it doesn’t happen with PWM output
  • the issue happens even at constant throttle demand
  • the issue doesn’t happen with 4.5.7
  • the issue does happen with all 4.6.0betaX versions and master
  • the issue only happens on tilting motors
  • the problem happens with or without harmonic notch filters

Can everyone confirm the above summary is correct?

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As far as I am aware these are all correct statements

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we also have a thread for this under the quadplane_vtol discord channel. Are any of you on discord? @Allister I know you’ve been bisecting with @andyp1per - are you on discord?

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Those statements look correct.

I just tried Andy’s latest version and had strange results that I got noise in Manual mode, but not FBWA.

I have a discord account, but don’t tell my teenager. I’ve never really used it but I’ll try to find the channel.

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