Tuning EFT Z50 Drone, x13 hobbywing motor (issues)

ArduCopter
, ,
1

hi to everyone and devs,

i have started tuning eft z50 agriculture drone with x13 hobbywing motor.
i am following the amc software.

the frame can be checked here - https://www.youtube.com/watch?v=6ZZDkHO4bac

the front arms and rear are at an angle.

i am facing few issues before i can proceed to next step of magfit. because drone isn’t in a good tune condition to do a auto mission

1- my motors are very hot at min takeoff weight of 58kgs
2- post quicktune, in loiter mode when the drone stops there is oscillation.
3- i have noticed in the logs and during flying the drone keeps trying to yaw to one side.
4- yaw imbalance is there but all motors are level, i feel the angle on the arms is the reason for the imbalance.

i am attaching amc software flies. request dev to help me out. @amilcarlucas thanks for your software makes life quiet easy.

2

Regarding Hot motors, have you read section 7.1.1 ?

3

yes i have gone thru 7.1.1

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4

@amilcarlucas rate out is less than 0.15 as per docs.
And confirm P and R out is oscillating by this image.

5

Take a look at your ATC_ANG_PIT_P parameter. Clearly the tune did not work well. You can see this in Pitch Attitude.

6

You can give the following values a try to see if it resolves the oscillation after all tuning is completed.

LOIT_ACC_MAX,500  #100, use 500 default
LOIT_ANG_MAX,0
LOIT_BRK_ACCEL,250  #25, use 250 default
LOIT_BRK_DELAY,0.3  #1 to 0.3
LOIT_BRK_JERK,500  #2000, use 500 default
LOIT_SPEED,1100
PSC_VELXY_FF,0.85
7

i changed it back to before quick tune prams as per the amc software to default values.

8

i followed it, reduced the pids of pitch it helped a bit. but i am not sure if the motors are hot or i feel thay are hot.

i am attaching pic of rate out and rocu , i dont see visible oscillation.

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what i have noticed is that there is some yaw happening withput pilot input. also the rate out for yaw is higher than others.

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i am attaching amc zip file and logs post flight in the drive. could you help me out to fiure out reasons for the issues like

1= drone trying to yaw as per pilot feel and also as shown in logs.
2= oscialltion if there is any , visually there isnt any but in logs pictures shared above you would have a better expertise

thanks a lot

9

thanks for the info will do it and share here,

10

So we followed the amc @amilcarlucas and finished till autotune in all axis, as per our understanding and reading the tune is better, but we are still not sure if we put the right notch filter and if the magfir flight was good.. attaching log annd zip file of the amc

@amilcarlucas if you need to use x13 as template i am fine with it.

1 Like
11

@amilcarlucas
Hi could you check the logs , I am not able to fix the hot motor issue I feel , I am not sure if motors are hot or that’s the standard tempura.

Unable to understand the rate out.

Could you share some quick tips

12

I was very busy producing the second AMC video. Now I have some free time and will look into it.

1 Like
13

Videos are helpful , I have seen the first one :slight_smile:

14

I corrected the notch filter and other settings and created a Hoverit_X13 template. Use the latest development release to get it.

15

@amilcarlucas i used your notch filter settings. this is the image i am getting. i guess some logging isnt happening.

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16

The methodic configurator disables notch logging once autotune is done.
You need to reenable it by uploading file 14

17

yea we difd the file 14

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this loooks fine as oer your prams