Quad ready for autotune?

ArduCopter Copter 4.6
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1

Hi guys

I have recently finished the hardware of my copter.

Since it uses the infamous Pixhawk 2.4.8 (2MB thankfully), I can’t run lua scripts or notch filters because of lack of resources. So, I can’t use the quicktune.lua script. I am attaching a log file and would want to know if I can run autotune on it. Also, I am listing the hardware for reference:

Frame: F450

ESC: Blheli 30A

Motors: 920KV 2212 Size

TX/RX: FS-I6X and FS IA10B

Battery: 2.2Ah

Props: 9450 size

GPS: M8N and 7M Dual gps

Also, should I use the autotune flight mode or assign it to an aux switch?

Log File link: https://drive.google.com/file/d/14NJbM1iVDg9lLmY37IDlbtZ7RiD7ztN3/view?usp=drive_link

2

You can run a Notch Filter. Configure for Throttle referenced notch.
Set the Motor Ranges
Reset the PSC_ACCZ_I&P parameters from Hover thrust. Looks like ~.32
If Auto Tune fails then lower the Rate P&I PID’s a bit and try again.

Makes no difference. Just be sure it’s in Auto Tune when you disarm.

3

Tried a throttle based one only.

As soon as I enabled, on the next boot it failed to boot, and I tried that 100s of times.

When I removed the sd card, it booted.

With the sd, it did not boot.

So, I assumed it was a resource issue, but there might be a possibility of something else.

It was configured using the wiki guide

4

………..

I’m sure there is.

BTW-I dug a 1Mb version of those junk Flight Controllers out of the drawer and there is no problem running a Notch Filter with it. It’s just another F4 based board, why wouldn’t it?

5

Well what parameters did you try?

mine is a custom build which includes IBUS telemetry, but nothing else was removed/added.

I am using ArduCopter 4.6.1

6

Also, is a notch filter really necessary as I have quite acceptable vibrations.

(The clipping in the log is caused by a hard bounce in the log.)

7

Update to ArduCopter 4.6.3 release.
Reset to default parameters and start over.

Using the ArduPilot methodic configurator software this time. And only skip any lua related suff. The configurator already clearly indicates what is optional or not optional.

Don’t get creative and skip mandatory stuff.

8

It’s a typical configuration for a notch filter. People have been using Notch Filters on those boards since Notch Filters were released.

I flashed a custom build incl iBus telemetry to the 1Mb board and it works fine.

9

Well I know that this is the best method, but I got to know about this utility too late.

I only have a few days to complete this. So, resetting everything and trying it all over again is not possible for me as of now.

Thank you for your response!

10

So the first thing to do in setting up a notch filter is to determine the center frequency.
I used the above log in Mission Planner’s FFT, and I got a weird result:

image
image1898×982 273 KB

This is probably wrong. I got no output by using the first green button from the left, so, I used the 4th button from the left.

11

UPDATE: I set up the notch filter and it is working now.

UNTUNED_NOTCH_4.6.1.param (18.4 KB)

@dkemxr can you please verify the setting and also help on the center frequency?

12

Sure. Can you link to the .bin log? Not sure if it’s in this thread. And, you want to use Web Tools for Notch configuration and Analysis, not Mission Planner any longer.

13

https://drive.google.com/file/d/14NJbM1iVDg9lLmY37IDlbtZ7RiD7ztN3/view?usp=drive_link

This is the link of the log file without the notch filter.

I have attached the parameters in the previous message, which have the notch filter.

I have not done a flight after configuring because I dont want to risk a crash.

14

You didn’t configure to collect any data to enable configuration of the notch filter.
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,4

Then make a hover flight for 1 minute or so.
You should really follow some documented process here or these small details will just eat up more time posting and posting.

15

Thank You.

I will try ASAP.

16

This is the new log file - https://drive.google.com/file/d/1Jh_IxTW_WF5hUJtm_VhT0C40rGWqh4nz/view?usp=sharing, and from the webtools, I think that I need to use 80hz base frequency.

But, what to do about the other noise at about 200hz (If I remember correctly)?

17

Those settings are a mess, try this instead.
filter (2).param (338 Bytes)

No more noise and a filter that correctly tracks the noise peaks:

newplot
newplot1200×450 48.4 KB

18

And update to 4.6.3 firmware

19

OK.

Thank You for fixing my parameters.

20

Report back, we want to see the results.