My 24-inch quadcopter is wobbling too much in Loiter mode and althode mode . Sometimes it remains stable, but other times it wobbles excessively or tilts suddenly, as if it loses control. I am a learner, and I need guidance from experts on how to resolve this issue. The logs are attached below
please guide me
FC - Orange cube plus
Firmware - 4.5.7
motor- t motor mn5008 170KV
ESC- Spedix ES30 HV 3-6s BLHeLi_S 30A ESC
24 inch quad of 3.9 kg with 6s battery
Use ArduPilot methodic configurator software to configure it correctly and in a safe sequence of steps.
Or wait for someone to look at your log and tell you about all the steps you missed.
Yea, let’s take a look at that log. This craft was in no condition to run Auto Tune.
Massive output oscillation. Reset to default and follow The Configurator.
Thanx brother, I am a beginner But I used Initial tune param from MP , and I don’t know what a configurator is or how to use it. Can you share any pages or steps about the configurator?
Also, my previously built drones did not require any configurator, yet they worked fine. However, my current drone is suddenly losing stability, as if it is falling in mid-flight, and then it suddenly regains control.
When switched to rtl mode, While coming to home it is losing the stability and again regaing stabilty
Hi,
Now i changed the prop size to 20 inch
motor 170 kv (mn5008)
Battery 6s
I have completed the configuration using ArduPilot Methodic Configurator. After that, I adjusted the tuning using Initial Tune Parameters, and then performed Autotune.
The problem I am facing now is that the system flies fine in AltHold mode, but when I switch to Loiter mode, the drone starts oscillating.
Another issue I am seeing is a warning: “Potential Thrust Loss on Motor 1 and 2”. To troubleshoot, I swapped the motors — moved Motor 1 to Motor 4, and Motor 3 to Motor 2. However, after flying again, I still see the same warning: “Potential Thrust Loss on Motor 1 and 2”.
Additionally, when I suddenly brake the system in Loiter mode (for example, when I stop or change direction quickly), the drone wobbles briefly before stabilizing. This only happens in Loiter mode, not in AltHold.
I am not sure where I am making a mistake. Please guide me on what steps I should take next.
I uploaded a small log from a Loiter mode flight. Please review it and help me identify the issue. , or you need more log
Motor 1 is in Main 5
motor 2 is in main 6
Motor 3 is in main 3
motor 4 is in main 4
Bad idea, why did you do that? Now the craft is grossly underpowered. Outputs at max and thrust loss errors.
Change the props back and post the files generated by the configurator.
If you can not tune well a copter with a given set of props, and your set up allows for smaller props (without loosing too much power, etc.), it is a very good idea to switch to the smallest props and start all over again.
I was trying to setup a copter with low kv and disproportionally large props, and after two weeks of fighting it, I determined that it was actually untunable.
But from what I can see your problems indeed are due to too small props… Your message “potential loss of thrust” is due to the motors being saturated with maximum output (check clipping on the log). So you have to follow the advice of Amilcarlucas, change back to bigger props.
This motor is grossly under-torqued to be running at 6S voltage. All of T-Motor documentation/spec data recommend 12S. I understand that its not a hard rule to stick to that voltage, but without propeller thrust testing I wouldn’t trust the motor to have enough torque at 6S to spin such a large propeller (and then obviously a smaller propeller is not enough thrust due to the low KV/rpm).
If that is the case, i.e. you can get higher voltage for the motor, stick with 20 inch, and change to higher voltage. Confirm that your ESC can handle it. But from looks of your log, even an 8S will be too little, and the ESC for 10…12 S are quite expensive.
Hii
Today, I replaced my propellers with 24-inch props and flew the system after configuration. I also ran the initial tune parameters.
After that, I took the first flight in AltHold mode, and then I tried manual tuning.
When I switched to Loiter mode, the system started wobbling. To address this, I decreased the gains:
PSC_VELXY_P = 1.3PSC_VELXY_D = 0.3After reducing the gains, the wobbling reduced. The flight performance was not great, but it was acceptable.
However, during the flight, I suddenly got a warning about “Potential Thrust Loss” on Motor 2 and Motor 4.
I am not sure what the exact issue is.
Please suggest possible causes and solutions for:
my motor is is good esc is good ,
battery is 6s6p (3c per cell ),
main 5 - motor 1
main6 - motor 2
Main 3 - motor3
main 4 - motor 4
You still have not posted the files generated by the configurator.
Hii amilcarlucas , the genrated file by configurator is listed below you can check
Lots of small mistakes:
And big mistakes on file 19 and 20:
quad24.zip (187.8 KB)
Please re-do the instructions starting with 19 and above, using the corrected files I provided!
Re-do file 14 as well.
thanks , this is my first time using the ArduPilot Configurator. I made some silly mistakes but have changed the parameters you suggested. I am about to take my first flight.
Yes, my system has a TOW of 3.6 kg.
So the full take-off-weight, including batteries is 3.6 Kg and you use 24’’ props?
yes Full take off weight is 3.6kg with 24inch blades ,
Battrey is 6s6p (21600mah )
Prop is 24inch
Quad with X configuration
