The Gyro low pass filter will offer increasing attenuation as the frequency increases. This will happen w/o any notch filter.
Yes, and consume system resources. That Flight Controller is only an F7. Make sure to disable Raw logging once the Notch Filter is set.
Try disabling the 2nd Harmonic and reducing ATT to 30dB. I think all post filter peaks will be below -50dB now that you have multi-source running 8 Notch filters might be too much for an F7.
Sir, so should I activate multi source or not?
Of course you should!
And if it is working disable Raw logging manually, or even better use AMC, it will disable it for you.
Post a link to a log after doing so, letās see what the processor load is. It was ~62% before you enabled multi-source.
sir, please reccomend the changes. also the drone was drifting left in alt hold, should i calibrate the acc level in opposite tilt to that of drifting? is this acceptable?
Iām not in front of a computer, but yes I will do it manually from time to time and your intuition is correct about loiter, assuming minimal wind load. If you want to be very deliberate about it then record at one orientation and then flip it 180Ā° and compare.
The ahrs parameters are in radians but the display is probably in degrees so keep that in mind. Be very deliberate here
Can I skip quik tune ? Because after autotune the D team is causing oscillation, if I perform quik tune and on top of that autotune this will cause increased d term?
You are not supposed to do quick tune after autotune.
You are supposed to use AMC and do the sequence it instructs you to do.
And autotune does a good, close to optimal job when used with AMC.
You did autotune before notch filter, it will obviously not work optimally under those conditions. And that is what is causing the problems you are experiencing.
No sir, I did not do that , I am of course using amc , did quik tune at first, then autotune, my point was, after doing quik tune the d term increases and after autotune it will further increase to dangerous level, thats why drone is oscillating after autotune. I do as per AMC. Here are the the logs, I did quik tune in loiter as stated, tries to do autotune and it threw me with cannot level error. Also @Joshua_Kordani how do I get the ahrs trims for acc calibration from loiter mode log?
Are you sure Auto Tune ran successfully? I doubt it because the Pitch/Roll Angle Controller P gains are at default. Quick Tune will not change these but Auto Tune does. Or, did you fiddle with it after it ran setting them back to default?
No sir I tried to ran autotune but it failed, it said something about not level or failed to level, does it happen because of not calibrating acc properly?
No it happens when the previous steps have not been done correctly. Was this after the notch?
As @amilcarlucas said, no. It has nothing to do with accelerometer calibration. Itās poor return to level response after a commanded twitch. Could be slow (sloppy tune) or it could oscillate (twitchy tune).
Just āCalibrate Levelā with the craft level and forget about this topic. It it drifts in AltHold use the sticksā¦
Was the quicktune done withe some level of turbulent wind, like it should?
Was the Autotune done with no wind like it should?
sir, can you give final notch filter settings?
sir, I tried everything to be under document SOP.
There is 4 logs in that folder.
Sir, the last one 90 something mb
