Unstable Tarot X6

ArduCopter Copter 4.7
1

I have a hexacopter we cant seem to get working. New build, Tarot X6 Frame, CubeOrange FC.

Drone takes off fine. Once it finds alt hold it descends super fast and cant stop it until it crashes.

2nd Log file is loiter mode. Take off fine, gps working, Once it hits its 10m mark its starts to become unstable and sway back and forth. My sticks basically do nothing. I try to slowly bring it down to land and it Tips over when landing hard.

I have tried adjusting flight modes. Before I change any PIDS what else would we recommend to do? everything has been calibrated multiple times, changed new props have several different sets, frame it setup correctly, Throttle Stick is always mode 2. I have zero error when taking off and still acts like something is not calibrated. Ive tried different flight modes with little luck

I usually always leave it in loiter mode but it acts like it has no GPS and just floats aimlessly with little control feedback.

Any advice would be appreciated! Thanks

My current PID in ardupilot

Roll

Axis Angle controller p gain= 4.5

Axis Rate controller p gain=.126

Pitch Axis rate controller I gain=.11

Roll Axis rate controller D gain=.004

Pitch

Axis Angle controller p gain= 4.5

Axis Rate controller p gain=.126

Pitch Axis rate controller I gain=.13

Roll Axis rate controller D gain=.004

YAW

Axis Angle controller p gain= 4.5

Axis Rate controller p gain=.176

Pitch Axis rate controller I gain=.01

Roll Axis rate controller D gain=0

2

I’m on my phone and can not check the logs. But it looks like you missed configuring the altitude controller and probably the notch filter.

Read the documentation more carefully or use ArduPilot methodic configurator software to guide you to correctly configure your vehicle.

3

Start over and follow all documentation carefully. @amilcarlucas’s Methodic Configurator is worth considering if you are new to ArduPilot.

4

Methodical configurator is the only way if your new. It makes the process easier. Without it your basically blindfolded

5

Thank you for the response. Is there a simple way to configure the notch filter and altitude controller? Amilcar, very nice detailed writeup it is overwhelming at first if im being honest.

I feel like its 95% there just missing something small

Thanks again

6

There are instructions on how to import the configuration from a correctly tuned vehicle.

You can use that. Then it will correct the altitude controller automatically in step 24 if i remember correctly.
Notch filter you can correct on step 25 if I remember correctly.

Usually users get much less than 95% correct when not using AMC

7

still very new to this on the software side. I do not see a Step 24 or 25 on the write up in your profile. Would you mind giving some insight.?

8

Here is the link to the step-by-step documentation on how to import a correctly configured vehicle into the Ardupilot methodic configurator.

And step 24 can be selected in a combobox, when using the “normal” GUI complexity:

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That will automatically tune your altitude controller gains.

And for the results of the dynamic notch filter there is step 25, that automatically opens the relevant documentation and the Web tool in your browser.

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Reading the tuning guide document is not enough. You need to use the software.

As you can see each step has it’s relevant documentation links in clickable dark blue text.

9

I appreciate the help.

But I cant even get past step one of configuration because I didn’t build the thing.

-Battery monitor ?

-ESC FC>Connection ?

-Motor Poles?

Gnns Receiver?

Is there any easier way to do this? I used the template from a tarrot hexa

10

The easier way is to post pictures so that we can help you.

11
12

If you followed the instructions, then it imported your parameters and selected the correct values for most of the stuff below.

Battery monitor, this allows the FC to monitor the voltage and current of the battery
ESC->FC connection. This allows the 6 ESCs to report RPM, temperature, voltage and current information back to the FC
Motor poles. You need to use Google to find this out. No motors on the picture, So I can not guess.
GNSS receiver, this is the GPS receiver. Again not shown in the picture but the import should have had selected the correct one already.

Post pictures of the motors, measure the prop diameter in inches, and post pictures of the GNSS receiver.

If you did not build it, ask the person who did. Or post more detailed pictures.

13

Thank you for your help again. The imported parameters were not exactly to what i have.

Here is a pic of the GNSS that is normally mounted with the arrow facing forward. Props are New 1755s

14

Motor:

  • Manufacturer: MAD
  • Model: 5110 EEE 180KV
  • Version: v1
  • URL: 5010 EEE V2.0 Drone Motor (V1 no longer available, so used v2)
  • Nr. pole pairs: 14 (as seen in the URL above)

GNSS receiver:

Choose Here 4 from the pull down menu.
Follow the wire to see where it is connected to the FC, but it seams connected to CAN1

Prop:

Diameter in inches: 17

15

Unsure of Battery FC connection, and protocol leave on Analog?

Not sure where to leave ES settings FC>ESC and ESC>FC, type and protocol

When I change GNSS Receiver to CAN1 I get an error for ublox, not sure which CAN to specify

16

Yes, when unsure leave analog unchanged.

If your gps is connected to can1, select can1.

17

ESC settings, leave them unchanged when unsure

18

Which ublox error exactly?

20

it errored out prior to this.

Does this look right on the last three

GNSS,RC Reciever, And Telemetry?