One week or one month wouldn’t make much difference.
sir, @amilcarlucas , I have performed the autotune without magfit because i did not have the fpv system. the autotune was sucess and the drone is flying pretty good in stabalise and alt hold mode but in loiter the drone struggles at height (like 15-20 meters), it wobbles a bit, i dont know if looking at it from ground makes me think that it is wobbling or it is supposed to fly like that, I hope the log might be useful to find out this issue. after getting the fpv system i will perform magfit. also for wind compensation i did the steps, only the flight test to find EK3_DRAG_MCOEF is remaning.
also few questions:-
-is wind mandatory for this step?
-can I fly my drone on roof of my house?
-now that the drone is tuned can i add components such as camera, raspberry pi to it? will i need to retune the craft?
- after tuning still the drone is not stable in loiter mode(but is stable in alt hold mode) is wind a factor ?(for destabalisation)
- is pos hold mode == loiter hold mode? which mode is the most stable and safe for holding the drone in one place?
- sir @Joshua_Kordani @Allister @amilcarlucas please review the log for final time if there is any issue?
Small amounts of wind are required for quicktune and for wind compensation flights.
If that is allowed in your country, yes.
Yes, of course.
It depends:
- No: if the components only add small amounts of weight and are placed near the center of gravity. But you still need to change the weight dependent ACCELERATION_LIMITS as explained in the autotune documentations
- Yes: if the components are heavy and away from the center of gravity.
That is a clear sign that the tune was not that good. Did you autotune in low wind conditions, using FW 4.6.2?
No!
Loiter is much superior. No one uses PosHold anymore.
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sir, my drone was flying well in loiter but after some time it started wobbling violently, and started losing altitude, then i switched to alt hold mode until it crashed into a tree. this happens often in loiter mode (the drone stays in air for long time at one place and then starts to wobble and then settles, but in this case the wobble got worse and the drone crashed. please can you check what was wrong so that I can solve it. the only issue occurs in loiter mode.
I think you should read thru this again and set them properly. MOT_SPIN_MIN at 25% throttle?
Setting Motor Ranges
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Sir, the hobbywing escs are rotating the motor around this value, below that no rotation on arming so I set it. Any leads on crash info? Why it happened, I spend 2-3 days just for autotune and still it crashed in loiter. The crashed happend between 17:14-17:16. There is a big spike in this region. The log also includes log_disarmed and detailed ekf logging. IDK what is wrong with it😔 I have followed all the steps, I am also learning a bit about reviewing logs, taking help of gemini but it’s still inaccurate.
Then perhaps you have an ESC calibration problem because this IS the problem.
Note here as you are descending, before you switched to AltHold which had nothing to do with the problem, the motor outputs are bouncing off of the very high Minimum Spin you have configured. Stability is lost under this situation and down it goes to a crash.
Sir, Why did the drone started wobbling and loosing stability during loiter? What is the main issue that cause wobbling? I mean that loiter mode control the drone. The pid algorithm lost it during that wobbling time i.e the error increased instead of decreasing, the controller was trying to stabilize the drone but the drone was becoming more unstable. What might be the reason that drone is not able to overcome that error, is it the wind that trigger the wobbling? Is it the ESC? Is it the vibration due to more wobbling? I have calibrated the ESS is several times.
Read the previous post. There is a problem if it takes 20% throttle for the motors to spin. Which is what you are saying if you followed the Setting Motor Ranges guide correctly.
Sir, what do you recommend, what should I do?
Re-run ESC calibration. There is no way that it should take 20% throttle for a motor to spin and 25% as Minimum Spin is not going to work.
Or, replace those ESC’s with something that will run Dshot. A Blheli_S with Bluejay firmware is the easiest and least expensive route to that.
What exact Xrotor ESC’s are these? Post a photo and a description.
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Sir, the esc’s are brand new, here is the link, also one question:- how can an esc be the reason for the crash in loiter?
XRotor 40A Multirotor Drone Brushless ESCs 2-6S
It’s not the ESC’s it’s the Motor Ranges. I’ll repeat what I said:
Note here as you are descending, before you switched to AltHold which had nothing to do with the problem, the motor outputs are bouncing off of the very high Minimum Spin you have configured. Stability is lost under this situation and down it goes to a crash.
It’s hard for me to believe that when you run Motor Test in Mission Planner it takes a minimum of 20% throttle for the motors to spin. If so then the ESC calibration is probably not right.
Go here and use the Semi-automatic method. ESC calibration
Sir, the drone started death wobble in loiter after 17:14 to be exact and then it started descending, then I knew the wobble had to do something with loiter mode so that’s why I switch to altitude hold mode to control the drone and then I was not able to control it and then it crashed into tree. What should I do now?
What are you talking about? The log shows YOU dropped the throttle and it started descending and it then lost stability for the reason I gave.
Open the log yourself and start doing some of your own analysis.
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Yes sir, I dropped the throttle because it was death wobbling sorry if I put it wrong. But the drone slowly became unstable in loiter mode then the unstability got worse and then I started to descend using throttle. The log also contains disarmed part. Sir I also did the analysis based upon my understanding but I didn’t get the problem. The drone started death wobble/was unstable in loiter mode before descending.
Sir, I did a stress test in loiter and the drone refused to crash, I seriously don’t know what is wrong with my drone. I have shot a video as well as logs are there, please take a look.
I call bullshit on that and you should be able to see this in the log also by looking at the sequence of events.
You drop the throttle and then as it descends attitude control is lost:
I have nothing more to offer on this topic. These are way off. Figure out why.
MOT_SPIN_ARM,0.2
MOT_SPIN_MIN,0.25
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Sir, please check this video.
https://drive.google.com/file/d/1pZX58MexOsHUIgHVIO_rh5FuwLxLNENi/view?usp=drivesdk.
Also after the drone started wobbling in air then I lowered the throttle, please check first spike.
Your video links are blocked by access reights.
But also videos mostly are not aligned with the logging timestamps. So just from video it is hard to say what really happens.
But answer the interesting questions from @dkemxr regarding your motor settings.