When I looked at the log because the altitude changed rapidly during flight, the vibration increased sharply. I wonder why the vibration has changed rapidly.
Attached is the log.LOG
Attached is the log.LOG
The motors need to spin faster to gain altitude.
When the motors spin faster there are more vibrations (in your vehicle).
Fix the hardware issues, use a stiffer frame.
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That’s right, I tuned it in order, so the vibration was about 15 to 20. The clamping was zero. I felt there was no problem with the hardware, but I think I can feel the vibration in FC. The auto-tuning results were not bad
And how good is the notch tuned?
Is it throttle based? If yes, how good is the MOT_THRST_EXPO parameter configured?
needs at least 10dB more attenuation.
Can you calculate the notch using the section of the flight with high vibrations? How does that one look like?
It’s so bad, it gained a third harmonic.
Try increasing the ATT and activating the third harmonic.
Its better to use triple notch insteed od double.
Yes, triple is better in this case.
What is the phase lag graph of the double vs the lag graph of the triple filter?
You need to de-activate the double notch in order for the triple notch to operate.
Only one of them can be active, they are mutually exclusive.
And we need the phase lag graphs, not the spectrogram.
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Is your Ins_hntch_ref calculated right? Its always best to chase source of vibrations then to add much filtering. You can add alot of filtering but then your tune will suffer.
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I don’t know if I set the Ins_ntch_ref value perfectly correctly. I’ve added an approximation.
You can easy calculate it based on your thr_hover value. There is a explanation in tuning manual. You need to set it correct to get harmonic filter work as it should.
Why don’t you use the Estimated Post-Filter function to set it?
This is what you have:
Using these settings:
This is the result. It’s best to use the minimum notch filter set that will do the job.
But, your vibration levels are too high anyway and need to be reduced. The notch filter is not a band-aid for this.
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@dkemxr gives you clean filter setting to start basic tuning. When you fix vibrations you can review notch filter and correct it if needed.
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