Either I am totally lost or you are totally lost…
Your video of your plane which crashed does not have VTOL motors installed. How do you test Q_Stabilize and Q_Loiter mode if you do not have motors?
And in your crash, with the only forward motor you have you do not have any way of flying VTOL modes, i.e. those beginning with Q… Your logs show clearly that you had QLoiter mode on. That means that without your VTOL motors you could not fly correctly at all! You flew probably because one of your VTOL motor outputs was connected to the front facing motor… And I am not sure how you have wired the servoes for elevator-rudder.
Hello,
Please that video it’s not mine it’s belong to AR_AM how ask a question about his situation.
That was a mixup! that is why the bin file did not match the video I saw…
For my case I take off correctly in quadplane_loiter, all VTOL motor are working fine, i push the pitch stick to move the plane forward and it response also correctly. But when i release the pitch stick of the RC the plane dosent stop and it’s continue moving forward loosing altitude until it crash about 20 m faraway. For me it’s really strange because the previous test was fine.
this is the link to the previous log file test:
https://www.mediafire.com/file/fu38qsdnaie53ga/2025-04-07_15-38-43.bin/file
OK. I looked again at the file, there are two main problems: basically, your copter is completely untuned, and it has a problem with barometer sensors. You have very high oscillations in indicated baro altitude which are most probably due to the propeller flow somehow affecting the barometers.
Before anything else, you have to sort out this issue. Depending on where your sensors are located, you may have to close some ventilations opening in the fuselage, or place some foam over the sensors, you have altitude oscillations of 1 meter or more with a frequency of 4-5 Hz, which is very unlikely to be true (although you have GPS altitude oscillations of much lower amplitude and frequency which are probably true).
These baro alt oscillations will preclude any tuning except in Qstabilized mode.
Second, you have very strong oscillations in Roll/Pitch which indicate that the PIDs are not correct. You have to adjust them following recomendations of ardupilot set up and/or methodical configurator.
I am not 100 % sure, but I would probably try:
- increase the D term (you have now PID 0.25 0.25 0.0036, I would increase the D to 0.007 first).
- PROBABLY you have to increase P and I, but here I am not 100 % sure, because it could be the other way round (I see a lag and ovvershoot between the desired and real pitch roll which for me is an indication of low PIDs). You have to change P and I and then evaluate how it flies. If it improves, also increase D proportionally.
After that you could try to autotune, but not in Qloiter mode, Alt Hold mode is better.
Thanks alot Michail_belov for your efforts and the time you reserve to analyse my problem.
I’ll take in consideration your remarks and inform you about the result.
Greeting