Looks to me as it needs a re-autotune in roll.
Please do not confuse the 2nd Harmonic with a second independent Notch filter.
ok we are at the testing ground, we should be doing a roll autotune again, i right now and will see how it works
INS_GYRO_FILTER,20 # as per webtool
INS_HNTCH_ATT,30 # just enough to filter the noise created by the motors/propellers
INS_HNTCH_BW,11 # just enough to filter the noise created by the motors/propellers
INS_HNTCH_FM_RAT,0.7 # go below the hover frequency
INS_HNTCH_FREQ,43 # central hover frequency noise peak
INS_HNTCH_HMNCS,3 # Only the first two harmonics are above -50 dB after filtering
INS_HNTCH_OPTS,2 # ESC telemetry provides pre motor RPM data, use it
INS_HNTCH_REF,1 # use ESC-telemetry RPM data
we do not have a 2nd notch filter
Start by reducing these PIDs (I’ve provided my suggested values)
ATC_RAT_RLL_D,0.008
ATC_RAT_RLL_I,0.192
ATC_RAT_RLL_P,0.192
ATC_RAT_YAW_D,0.001
ATC_RAT_YAW_I,0.08
ATC_RAT_YAW_P,0.8
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,4
LOG_BITMASK,180222
And let’s see what we get next.
Also try to level the main frame of the copter (prop disc) by packing under the landing gear, then in MissionPlanner / Setup / Mandatory / Accel, press “Calibrate Level”
ok so i update these values and do a flight in loiter and see if there is any chanegs, if not then i will autotune the roll and see if there is any difference.
the drone is in a nose down angle when on ground, but at the same time the autopilot is level to the earth.
here is the bin file
@amilcarlucas the accel x y and z all in limits as per docs, now we are doing yaw autotune and then again roll and pitch
Leave the yaw settings I gave you - autotune of yaw is probably not necessary.
Just do pitch and roll
I was hoping to see a log with the pre and post filter data to ensure that’s working properly before you did autotune again.
we jsut did yaw and got
Yaw(E) Angle P:4.390, Max Accel:9339
Yaw(E) Rate: P:1.368, I:0.136, D:0.0000
should i use these before i do roll and pitch or do i use your values ?
Reduce the Rate P and I back to less than 1.0, I gave 0.8 and 0.08 before. You had yaw oscillations before takeoff in that other log, and high Rate values will make that worse.
ok changing back to what u suggested, and shall do a roll and pitch autotube again
sharing log this was post yaw autotune(we did it before i could read your msg) unable to see any filters
back to this and did a flight in alt mode log is here https://drive.google.com/file/d/18ANFzWjgrZacbhYRabf9-A-NdTXQ2yIS/view?usp=drive_link
unable to notch filters not enough imu data is the error coming
Just set these,
and this
INS_HNTCH_FM_RAT,1
should i make this chanhges ?
amilcarlucas had chnaged this from 1 to 0.7 in the template
changes done just ins rat fm is still at 0.7 in this log,
Definitely set INS_HNTCH_FM_RAT,1 when using ESC RPM.
Make sure you use the logging value I gave too.
If you get time try these too, they should suit your copter quite well
ATC_INPUT_TC,0.2
ATC_SLEW_YAW,2000
PILOT_THR_BHV,7
PILOT_TKOFF_ALT,200
PILOT_Y_EXPO,0.3
PILOT_Y_RATE,40
WP_NAVALT_MIN,2
It will try to takeoff to 2m altitude which can avoid snagging the landing gear and causing a tip-over.
yes makes sense.
so i will make all these changes, and then share a log.
post this will do a roll and pitch autotune
did a flight in alt mode https://drive.google.com/file/d/1PieHyXpYQwN7v5O0KhyMCW5TTZMYYF8-/view?usp=drive_link