I have a hard crash after a few minutes in Autotune using the latest Copter 4.1.2 firmware. This is a new quadcopter setup and first test flight. Could you kindly give some suggestions of what might happen? Thank you very much!
It is not the right way to invoke the Autotune from Loiter, since the attitude tuning is not done yet, Loiter (positioing mode) should not be invoked before AltHold and Stabilize are good to control. I guess you may have some difficulties in drone control but let’s try harder.
I guess the direct reason for the crash is when AutoTune increased D term (ATUN.RD), it tweaked the drone so hard and it caused oscilation/instability in the control loop so the drone can not keep up with that change because PIDs were wrong (no previous Manual tune step is done)
I do not use FLAME ESCs + MN motors but another combinations from Tmotor (U8lite, P80, Alpha ESC)
Tmotor claimed they have linearizing scale for their ESCs - which I am not sure about this. However, I always set MOT_THST_EXPO 0.65 for all the cases. Somebody found that 0.2 works for their FLAME ESCs - which, again, I am not sure too.
This really surprizes me.
Okay, I am not trying to confuse you guys and it should be off-topic but I still want to share this test. A full test result and conclusion maybe presented in another threads.
There is always be an “anomaly” point at 79 - 80% of the throttle (approximately 1790 - 1800 RC PWM)
Let’s give it a look and think if it is relevant to previous problems (and Tmotor ESC problems) or not.