I have a tricopter with APM 2.5 that has something similar to the leans.
“The leans” is caused by vibrations as i understand it.
I have balanced Props and dampened the APM from the frame with various types of foam and rubber dampening spacers.
I have a post on the DIY Drones forum but i’m still stuck with the leans diydrones.com/forum/topics/t … -the-leans?commentId=705844%3AComment%3A1454103&xg_source=msg_com_forum
My IMU logg shows acc from about ±0.5ish on hoover which should be within the recommended ±3
I have attached a log of me taking off and flying forward for about 20-30 meters and then returning. (tail in all the way.) The copter then drifts to the left for a while then levels out. This is a very small “leans” compared to longer flights.
After flying forward fast (70-80km/h) for a while the copter becomes uncontrollable and the artificial horizon on the osd is outside it’s bounds. i HAVE to switch to acro mode to keep the copter level since its out more than 55 degrees (ANGLE_MAX is at 5500)
After a while holding the copter still in acro mode the horizon on the osd slowly recovers and i can switch back to stabilize mode.
See the post on the DIY Drones forum for more details.
Hi svefro,
If your logs are showing in the range of + and - .5 which equals 1/20 G + it is very unlikely that normal vibration is your problem.
Possibly it is associated with it being a tricopter which is a unique frame and maybe something has gotten messed up in one of the releases that is specific to tricopter.
Or it could be related to increased magnetometer interference at higher power outputs.
Try following the compassmot procedure to check and correct for your compass deviation.
And you could also try the latest Beta code in Mission planner to see if possibly they have fixed any problems that might have snuck in.
I think the compass problem is more likely, with other multis it is more of a simple yaw problem, but tri’s could behave differently.
Best Regards,
Gary
i really can’s see how the compass should interfere with the attitude controllers. annyways.
I have redone the live compass calibration and disabled compass mot. (i have had it on since 3.0.1)
i’m always running the latest firmware from git hub with some minor adjustments (3.1.rc 6 atm). i have also tried the stock 3.0.1 firmware and 3.1 rc 5 from mission planner.
my acc is now around ± 0.3 on hoover and it rarely goes over that even if im flying fast and turning.
it seems that if i just hang around hovering of flying slowly in a figure 8 there is no problem.
Once i get the speed up, either straight forward or in a circle. that’s when the copter starts leaning…
I can even notice it in the turn building up. once i let go of the aileron/elevator stick it’s not level at all and i have to fight it till it slowly returns.
This has all the symptoms of bad vibrations but the IMU logs say otherwise.
i have tried hoovering and putting my hand on the platform where the apm is mounted and there is no vibrations that i can feel.
There is some vibrations in the arms of the copter but there’s always going to be some vibrations…
i have tried the same frame with a kk2 board without any problems at all.
Can’t wait to try the new APM 2.5 that i have on the way in the mail
if’ it has the same problem i’m going to tear my hair off!!
