Quadcopter yaw during takeoff on ground(Solved)

sauravhobyy · January 12, 2025, 10:49am

So we did multiple tests because we were getting gps 1/2 still configuring.

Test 1-

Volt meter reading from can splitter with both here 4 gps attached voltage ranging from 4.8-4.95( led lights blinking )

Test 2

Volt meter reading from can splitter with both here 4 gps attached voltage almost Static 4.90-4.94v ( led static no blinking )

Test 3

Volt meter reading from can splitter with both HERE3 gps attached, voltage is around 5v and above

Test 4
Powering can splitter externally from mauch giving 5.35v input to the splitter Volt meter reading from can splitter with both here 4 gps attached voltage ranging from 5.21.24v

Should I power the can splitter externally because here4 gps getting good constant power supply in this case.

sauravhobyy · January 12, 2025, 11:03am

I jsut came across this it says can1 arducopter supported but ours is on can 2 port

xfacta · January 12, 2025, 11:06am

It works on CAN2 but you can only do updates via CAN1

sauravhobyy · January 12, 2025, 11:07am

Oh ok, so should I give the can splitter external power ?

xfacta · January 12, 2025, 11:11am

That would be best, because the CAN, GPS and Telem2 ports (and most things you can think of) are all powered together from one source with a 1.5A (or 1A ?) current limit. Telem1 has an isolated source capable of 1.5A.

sauravhobyy · January 12, 2025, 11:23am

Ok so I will power the can splitter externally for gps

sauravhobyy · January 13, 2025, 7:32am

So we have given external power 5.35v to the the can splitter.

Now gps 1/2 still configuring errors have stopped

xfacta · January 13, 2025, 7:35am

Good work
In previous GPS tests they proved to be sensitive to that supply voltage.
When using CAN devices also set: BRD_BOOT_DELAY,3000

sauravhobyy · January 13, 2025, 7:36am

Yes we did this and added in the gnss pram file of the configuration software

sauravhobyy · January 13, 2025, 7:37am

Wil get to know about this once we fly it

xfacta · January 13, 2025, 7:42am

If those GPS units are getting configured and working OK now you are good to go.
Check the GPS_GNSS_MODE parameters to suit your area - only select what is actually required to work, usually GPS + one other, maybe two.

sauravhobyy · January 14, 2025, 10:35am

IS 67 AS PER MY AREA.

@amilcarlucas @xfacta So I just released i have set my harmonic notch filters based on throttle.

Now that i have can esc telem shouldn’t i set the notch filters using esc telem.

shouldn’t i set this

INS_GYRO_FILTER,20
INS_HNTCH_FREQ,21
INS_HNTCH_BW,15
INS_HNTCH_ATT,40
INS_HNTCH_REF,1
INS_HNTCH_FM_RAT,0.5
INS_HNTCH_HMNCS,1
INS_HNTCH_OPTS,0
INS_HNTCH_ENABLE,1
INS_HNTCH_MODE,3

log- notch filter first flight .bin - Google Drive

INSTEAD OF THIS (BELOW)

Present settings

INS_GYRO_FILTER,15
INS_HNTCH_FREQ,21
INS_HNTCH_BW,12
INS_HNTCH_ATT,40
INS_HNTCH_REF,0.125018
INS_HNTCH_FM_RAT,0.5
INS_HNTCH_HMNCS,3
INS_HNTCH_OPTS,1
INS_HNTCH_ENABLE,1
INS_HNTCH_MODE,1

xfacta · January 14, 2025, 12:18pm

From that log, use these settings:

sauravhobyy · January 14, 2025, 12:30pm

Ok tom we are flying the drone, will set these and start again.

INS_GYRO_FILTER,20
INS_HNTCH_FREQ,20
INS_HNTCH_BW,5
INS_HNTCH_ATT,40
INS_HNTCH_REF,1
INS_HNTCH_FM_RAT,1
INS_HNTCH_HMNCS,3
INS_HNTCH_OPTS,2
INS_HNTCH_ENABLE,1
INS_HNTCH_MODE,3

sauravhobyy · January 15, 2025, 9:55am

@amilcarlucas @xfacta

So we did test flying today and started from file 18 notch filter setup from the ardupilot methodic configurator

our final prams for filter seeings are below

INS_GYRO_FILTER,15
INS_HNTCH_FREQ,20
INS_HNTCH_BW,5
INS_HNTCH_ATT,40
INS_HNTCH_REF,1
INS_HNTCH_FM_RAT,1
INS_HNTCH_HMNCS,3
INS_HNTCH_OPTS,2
INS_HNTCH_ENABLE,1
INS_HNTCH_MODE,3

There after we did the steps and reached quicktune and was done successfully (no altitude oscillations this time)

Then we setup the drone for the file 24 magfit flight.
we used the web tool to get the results and then saved in the directory and uploaded it to fc using the software.

Next was again quicktune(step26/27) post magfit flight but now the issues started and shared below

1- Compasses inconsistent
2- gps1/2 still configuring errors kept pooping up

Due to this of course we were unable to arm the drone.

Then we did a compass dance and we were able to arm the drone and we did another magfilt flight at the same location without any changes(enabled internal compass 3)

From the webtool we got different results for both Magfit flights ( reasons not known would love to know)

We took the data from this second magfit flight and saved on the FC using the software and then proceeded to next step of quicktune post magfit but again we got same both errors Compasses inconsistent(heading should be 301* but was showing 315* and GPS1/2 still configuring ( external power to splitter5.35v)

i have also made a log when drone was disarmed for gps and compass issues data logging. @amilcarlucas @xfacta can you have a look as suggest.

So i am attaching differet prams and logs for reference -

1- first magfit flight log-1st magfit flight .BIN - Google Drive
2- first magfit flight results - first magfit result.param - Google Drive
3- compass dance results- compass dance prams.param - Google Drive
4- second magfit flight log- 2nd magfit flight .BIN - Google Drive
5 second magfit flight results- second magfit result.param - Google Drive
6- notch filter 1st flight log - 1st flight notch filter.BIN - Google Drive
7- disarmed log -disarmed log, gps configuring, compass incoss.BIN - Google Drive
8- ardupilot methodic configuration file- x11+ software files - Google Drive

FYI - our GPS is 5cm above the autopilot and no wiring touching the gps but air unit reciever is about 3cm below gps1, and wiring goign to FC below gps almost 5cm away.

I am increasing the height of GPS units by another 5cm above the FC(5+5=10cm) and wiring

raising the gps another 5cm

amilcarlucas · January 15, 2025, 9:58am

Did you already solve your 5V voltage fluctuations?

sauravhobyy · January 15, 2025, 10:03am

its above 5v,

but there is no issue with compasses inconsistent when compass dance prams are put, only after magfit flight the compasses inconsistent comes and on ground insted of heading of 300* its shows315*

amilcarlucas · January 15, 2025, 10:11am

Any metal near the takeoff location?
Iron rich earth?

sauravhobyy · January 15, 2025, 10:14am

not really… but with compass dance prams there is no compass inconsistent issues and even the heading is exactly correct when compared using personal digital compass

We are not able to arm the drone post magfit flights we have done the magfit flight twice but same issue coming unable to proceed further with magfit flight results

amilcarlucas · January 15, 2025, 11:28am

You do know that the compass only gives correct results if there is a GPS lock, right?

So solve the GPS issues before tackling the compass isue.