Servers by jDrones

QuadPlane: QLOITER tendency to yaw over time

qloiter
yaw
quadplane
(Expntly) #1

In QLOITER, the QuadPlane seems to yaw clockwise at the rate of 30 degrees per minute, with zero pilot input.

Everything in the logs looks “normal” and the IMUs/MAGs are registering that change.Except the FC isn’t correcting the error.

I checked my motors/props and they seem relatively well aligned.

Vibrations a little higher than I’d like but still reasonable and no clipping.

Q_A_RAT_YAW_D, 0
Q_A_RAT_YAW_FILT, 5
Q_A_RAT_YAW_I, 0.06
Q_A_RAT_YAW_IMAX, 0.222
Q_A_RAT_YAW_P, 0.6

DF log: https://www.dropbox.com/s/do9dbzpj2z2s1j4/46.BIN?dl=0

Params: v2-2017-04-22.param.txt (12.9 KB)

(Expntly) #2

@tridge ? @peterbarker ?

(Bharath Kumar) #3

you need to be using H Frame type, make sure u put the correct motor numbers and directions with respect to the heading of pixhawk. You can find the reference here. http://ardupilot.org/copter/docs/connect-escs-and-motors.html?highlight=hexacopter