Understanding Params from Flight logs - Missing data points

ArduCopter Copter 4.5
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1

Hello,
I would appreciate someones help in telling me why I have multiple GYR, IMU, BARO, ACC, etc in my logs (e.g, GYR_1 up until 5). Same thing goes for the EKF data in XKF.

I have noticed the difference between GYR and GYR_5 is lower frequencies or oscillations but I would like to have a deeper understanding on the purpose of it?

Two additional requests:

  • In GPS i have some data that are missing. Anyone have explanation for that? How can I fix it?
  • I have followed recommended steps on manual and auto tuning. Could you please advice me if there are anything i can do to have better (in terms of stability and less oscillations)? As I have some high vibrations on the x and y-axis during high maneuvers.

Link for the logs

Hardware setup:

  • X500 V2 holybro frame
  • Pixhawk 6X
  • Motor 920 KV
2

Yes, you can do better and learn more:

3

I know the tool. I have used it to configure my drone and fly safely and I have tuned the controller.
I am not sure why you shared the link although my question was refering to logs containing multiple fields from the same source. And some data is missing.

If I have missed something from your tool that is specifically pointing out these issues, ill be grateful if you enlight me. Thank you

4

On step 14 or 15 there is a table explaining how to set each bit in LOG_BITMASK and the datarate for each message

5

okay so the GYR and GYR_0 where ‘0’ represent the bit. Although the table do not fully cover the a whole information but still its helpful.

I still dont understand that when i plot GYR and GYR5 i see massive differences. Check the image below.

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6

I also do not get why you have 6 x,y,z axis gyros.

Last time I checked only 3 are expected.

7

Okay. One last question about biases and noise for the IMU and GYR. Are you aware of such parameter (or calculation) being logged?

8

That is not different sensors. That is completely different EKF data.

9

I know its estimated data… My question was referring to the bit (that is XKF1, XKF2, XKF3)

10

Get a better antenna or move it away from interference sources.

11

Xkf1 has very different data from xkf2 those are not different sensors