That is “sqaured” not “square root”
which works out very roughly as
INS_HNTCH_REF = hover_thrust * 0.6
when using the throttle based HNOTCH filter.
You can collect the data for determining the filter settings with
INS_LOG_BAT_MASK,7
INS_LOG_BAT_OPT,0
and you’ll be able to see on the FFT graphs and estimate the minimum frequency, or use motor RPM and
Freq = RPM / 60
which is easy if you have BLHELI RPM data.
Hover thrust values WILL change with payloads, as you say. The trick is checking different flights to see what’s changed and if you need adjust any HNOTCH settings. You might be able to come up with HNOTCH settings that work well across multiple payloads.
Or:
use RPM based HNOTCH
ensure you have a good flight controller and use FFT based HNOTCH
And same for Accel values and payload changes, you might be able to come up with values that work well across multiple payloads. Or just have a tiny .param file for each different payload , or no payload.
The param file could include the appropriate HNTOCH and ACCEL values for each payload.
new ATC_ACCEL_P_MAX = ATC_ACCEL_P_MAX x (min_TOW / max_TOW)
new ATC_ACCEL_R_MAX = ATC_ACCEL_R_MAX x (min_TOW / max_TOW)
new ATC_ACCEL_Y_MAX = ATC_ACCEL_Y_MAX x (min_TOW / max_TOW)
LOG_BITMASK=178175 = B0010 1011 0111 1111 1111
LOG_BITMASK=176126 = B0010 1010 1111 1111 1110
Not sure you have the same encounter as me last time.
could be due to Fast Attitude.
I think fast and raw are conflicting with the IMU batch sampling
you should further try Alt-hold flight mode with MOT_HOVER_LEARN = 2, followed by outdoor for loiter flight mode with a calibrated GPS.
MOT_THST_HOVER is unlikely to be less than 0.25, a sign of the motor is under power, maybe. CTUN.Th0 ave 0.32.
My guess is you are using a digital ESC DShot600.
any reason why you limit MOT_SPIN_MAX to 0.65?
which flight controller board are you using, a digital motor signal for example cubeOrange is
SERVO9_FUNCTION,33
SERVO10_FUNCTION,34
SERVO11_FUNCTION,35
SERVO12_FUNCTION,36
I hope this is correct for a different type of flight controller
any reason why you still stick to EKF2 and not migrate to EKF3?
For DSHOT to be effective you need to use the AUX outputs for motors, not the Main outputs.
I would advise to use the bi-directional DSHOT firmware, then set the HNOTCH to use ESC RPM data:
INS_HNTCH_MODE,3
The params I recommend below can still be used if you get DSHOT working.
Look for a message in MissionPlanner Messages like: RCOut: PWM:1-8 DS600:9-14
With the existing config, set these:
INS_HNTCH_REF,0.16
INS_HNTCH_FREQ,77
INS_HNTCH_BW,38
IINS_HNTCH_OPTS,0
INS_HNTCH_HMNCS,7
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,4
Please also set
BATT_FS_CRT_ACT,1
BATT_FS_LOW_ACT,2 or 3
JazzMaverick BLHeli_S firmware flashing old ver J-H-30, 16.7
motor pin move to main pwm to aux just setting changes servo output 9,10,11,12 motor selection
BRD_PWM_COUNT not showing SERVO_GPIO_MASK = 0 motor aux work
@dkemxr last work changes
965 topic
after facing problem
next all change default normal
sd card format ,install plane firmware and again install copter firmware,blheli firmware default, motor output pwm . notch disable
There is definitely high vibrations and your flight controller (IMU) is sensitive to these levels.
I would say you need vibration values below 15, it looks like every time it goes over 20 you have trouble.
No amount of software filters will fix this - you need to do more to reduce the physical vibrations or isolate the flight controller.
So try doing all the mandatory calibrations again, go outside and wait for a good GPS 3D Fix before doing the compass calibrations.
Or get a new flight controller.
today fly after all reset default all tuning setting default
but same issue only stabilize mode work
poshold,althold,land mode going high vibration after roll/pinch rc input