Throttle Surging in Althold and Loiter

ArduCopter Copter 4.6
1

Good evening. I’ve been having difficulty tuning the parameters for my quad. I’ve managed to achieve excellent tunes with 1045 and 1245 props, but the 1147 CF props I have are giving me trouble. I’ve started with initial tune defaults from mission planner, but I can’t achieve a steady altitude in Althold or Loiter. I have harmonic notch tuned decently, but as soon as I switch from stabilize to loiter or althold, the quad will not maintain altitude. It surges the throttle. This is more apparent in position hold so I lowered the ATC_THR_MIX_MAX to 0.15 from 1, but this didn’t seem to help.

Yes, my Z vibe is high. This has not been a problem for the 10 and 12in CF props. When using plastic 11in props, I had to mount the FC on gummies to reduce Z vibration. When using gummies with the CF props, I haven’t been able to get a good tune. Nonetheless, I don’t believe it is contributing to the surging as the same Z Vibe values have not affected stability with the 10 and 12in props.. Any advice?

My latest 2 bin files can be found here: https://drive.google.com/file/d/16vJ0hZILaijaEHx67z4PgRdt-iVMsDY5/view?usp=sharing

2

I think you forgot setting your vertical controller as configurator suggests.

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5E0ECAFF-23E3-49E6-9811-9A207E81638A1920×1438 359 KB

Also allow your notch go down from INS_HNTCH_FREQ you set with INS_HNTCH_FM_RAT, 0.75 and capture the filtering result with INS_LOG_BAT_OPT, 4

3

@Scott_P most of the issues that users of this forum have is missing steps.
You can prevent “missing steps” and massively increase the speed and safety of configuring your vehicle, by using a software that was designed just for the single purpose of configuring ArduCopter.

I’ve been configuring copters for consulting customers for many years and that is the software I use to get the job done faster, safer and save customers money. Try it. You’ll stop forgetting steps like this one.