The copter vibrates

tyoneda · February 25, 2022, 11:27am

Hello, I’m building a small copter, but I can’t solve the vibration of the copter.
What are some common approaches to reducing copter vibration? Also, is there anything else I should do?

Current behavior

the copter vibrate in flight.
video of the copter in flight | google drive

Copter configuration

Firmware: Copter-4.0.7
Flight Controller: Matek H743 Mini
Battery: 4s 520mAh Li-Po

What I did

Basic hardware calibration as listed on this page.(Mandatory Hardware Configuration — Copter documentation).
Motor tuning on this page. (Setting the Aircraft Up for Tuning — Copter documentation)

Regards

andyp1per · February 25, 2022, 11:41am

Use 4.1 bdshot target
Configure ESC telemetry harmonic notch per motor
Autotune

Alberto_Ds · February 25, 2022, 1:40pm

did you use this?

https://ardupilot.org/copter/docs/setting-up-for-tuning.html#mission-planner-helper

in particular: Mission Planner Helper

You absolutely have to mount the FC with M3 rubber standoff.
Your google drive does not allow access

dkemxr · February 25, 2022, 3:03pm

When you fix the Google drive access requirement (get rid of it) include a .bin flight log.

tyoneda · February 28, 2022, 6:56am

Thank you

I’ll try to use Mission Planner Helper.
And the rubber standoff are already in use.

This is the flight log and video.
I’ve updated the permissions.
https://drive.google.com/drive/folders/1yTnbvTKL5ihDoRknV6QvPWQ47zGJzWQv?usp=sharing

dkemxr · February 28, 2022, 2:21pm

You didn’t update the firmware as suggested or configure the Dynamic Notch Filter.

tyoneda · March 4, 2022, 2:30am

MOT_PWM_TYPE was set to 0 (Normal).
I changed it to 6 (DShot600) and vibration was suppressed considerably.

There is still a bit of vibration, so I will adjust the notch filter and using autotune to improve it.