Tuning the notch filter of my 36" drone

[taetea (Tae)]

hi

sorry i don’t know if i can ask for help with tuning in this forum,i will delete if i can’t.

i am trying to assemble a 22 l spraying drone
my component

frame: jis ev422 https://a.aliexpress.com/_c44GuXcT

fc: holybro pixhawk 6x

gps: holybro neo-f9p

rc/data/video link: siyi mk15

batt: tattu 22ah 14s TAPRAS22K1425X (i cant use DRONECAN for this battery so i cant measure the current)

i start configure by following the method configurator and reading the doc in the web. Right now i start to tune my notch filter, i using the in-flight fft.

Can anyone please help verify the flight logs to see if i make a mistake, this is my first drone that use ardupilot.

here is my logs

here is my params

[amilcarlucas]

Post the .param files generated by the software and the vehicle_components.json file in a zip file

[taetea (Tae)]

i have a problem with ardupilot method configuration where when i try to change the current sensor type to anything except the default from the template the program will crash.

[amilcarlucas]

Use ArduPilot methodic configurator version 2.7.2. That was a bug in 2.7.1

Post a single .zip file containing the AMC configuration files:

• all .param files 00_*.param to 53_*.param
• the vehicle_components.json file
• a vehicle.jpg file

[dkemxr (Dave)]

@taetea

here is the param

Now go back and delete the parameters text you pasted into that post so there is not pages to scroll thru.

[amilcarlucas]

@taetea you still did not post the stuff I asked.

[taetea (Tae)]

here is the file i can’t upload it because somehow it larger than 4.4 Mb

agri_drone.zip

sorry for the late reply i am busy filling out the files, i did try using the method config but i am not sure after the current sensor crash so i use it to look only at the topics but not changing the parameters. and i mostly follow the document in the website. It seem i miss alot of information from the method config, i am not sure should i retune the parameters.

[amilcarlucas]

First update your software so that it no longer crashes.
Then use it, It automates stuff for you, and prevents you from making errors.

[taetea (Tae)]

i have update my AMC,i will use the AMC from now on. Thank you

[taetea (Tae)]

Hi, i am doing the section “7.1 First flight: Motor Thrust Hover and Harmonic Notch data collection“ i think my yaw output have oscillation issues, and after looking at RCOU.C1-C4 it oscillation more than recommended in the doc, can i proceed with 8? ,Can you please help verify?

using AMC - Google Drive

[amilcarlucas]

It could be better. But it’s not that bad. What are the vibe levels?

[taetea (Tae)]

all the VIBE from the gyros are below 10

but after landing the motor is feeling warm not hot, is that normal?

[taetea (Tae)]

i tried “8.1 Notch filter calibration“

my prefilter is already somewhere around -50 dB and after the filter it way below than recommended in the doc, is this normal?

[amilcarlucas]

Warm is ok. Hot is not ok.

Having post filter bellow -50dB is the goal. If it already is bellow -50dB then the goal is reached

[taetea (Tae)]

Thank you

So i should disable the notch filter?

[amilcarlucas]

Nope. Keep it on pre filter is above -50dB.
But configure it correctly to not filter more than necessary

[taetea (Tae)]

can i just increase the gyro filter to 200 ?

[amilcarlucas]

Does not look like the notch center frequency is tracking the noise frequency. Fix that first.

[taetea (Tae)]

so the notch center freq. is around the peak that the highest right?

will this work? it doesnt seem so different from the post filter

[amilcarlucas]

No, that is very wrong. You need to track the first peak. And you should use ESC telemetry data for that.