Hello there, we are working on an autonomous drone project for our masters and would really appreciate some help.
Our goal for now is to keep our drone in a stable loiter mode using a GPS and optical flow rangefinder
We constructed the following drone (Pics, Parts list and parameters attached). However, we’ve had issues the two times we’ve tested it in stabilize mode.
Both times the drone took off but was vibrating and shaking excessively (despite mag/accel calibration and a carbon fiber frame) furthermore the pitch axis was inverted. Initially we though the GPS magnometer orientation was set wrong as mission planner showed the radio was mapped fine and the drone’s orientation was recorded accurately. However, changing this did not fix either issue. Both times the drone eventually had a sudden flyaway event and seemed to stop responding to the disarm switch, one time it eventually disarmed and fell. However, the second time it was completely unresponsive and was only stopped by a tree a few hundred meters away
Watching our final masters project fly off into the sunset made us realize we should probably ask for help. We don’t believe it is a hardware interference issue as we have previously flown fine with a different FC and betaflight.
Our running theory is there is a GPS issue that led to RTL causing the flyaway, however our second test was only in stabilize mode and that wouldn’t explain the vibrations and inverted pitch (please note we did already test the motor orientations and spin directions were correct)
I’ve attached the full parameters we setup and the flight logs from both tests, were struggling to draw conclusions from the logs and any help would be massively appreciated
Edit: should mention the broken antenna is from after the 2nd crash when we shook it out of a tree
Thanks for your time and happy flying!