i ran into another issue with my quad copter and i was wondering if anyone could help me? this would be a $20 job too. basically, during flight, especially during braking and hovering, the drone jumps, in about 2-3In hops up and down about 3-4 times a second when hovering. it also sometimes swings minorly left to right, like the drone is overcorrecting its balance. i know that air disruptions can cause shaking sometimes when hard braking, or the drone descending directly down, but there is an Odd amount hopping, and shaking. a potential cause is, I think the drone might be trying to OVER correct for balances while flying? i will aslo send out the .param so you all can look over it. I also don’t think the drone has been properly tuned… i used autotune for enitial setup. weird thing is, the drone flew great until i put a new LiDAR and optical flow module on, then this issue started happening. something with the Optical Flows EKF? i temporally disabled the optical flow for debugging.
another noteworthy thing is, there is no hopping when in Stabilized mode, only in GPS modes.
current setup is Arducopter 4.6.3, Pixhawk 6X
there is also a chance that the LiDAR is not related to this issue, just thought i would include that as additional information in case it is the cause.
just did a test flight around. here is the flight log.
also note, during the start of the flight i was not getting as much hoping as i usually experience, but later on in the flight towards the end I started to experience it more.
I zoomed in on 16:19 segment. I’m looking for ~10cm, 4Hz oscillation. I don’t notice it, but perhaps the EKF is filtering that out. Before I go digging for other traces of it, I want to make sure I’m in the right area.
Vibrations are high. You should look into fixing that, on the X and Z axis. Look for loose hardware or something bouncing on the flight controller.
What kind of ESC are you using? You’ve only set it up as PWM, but being 6S you may have something that can use a digital protocol that will allow for better filtering and tuning.
What kind of battery are you using? LiPo or LiIon? The values look really low either way to me. (but I’ll admit I don’t do a lot with LiIon)
i do not know the section in the chart… unfourntalty i am not super aware of how to read logs, thats why i am paying someone else to haha. i do not know if the EKF Is filtering it out?
where i experienced it most is the 16.19. where i was just flying forward 10ft then letting the drone brake (where it would do the jumping thing i am talking about)
so let me make sure we are on the same page. you are saying:
i have to, 1. change my params to this: PSC_ACCZ_I, 0.26 - PSC_ACCZ_P, 0.13 2. enable filtering. (which filtering and how would i do that?) 3. do a flight, send you the log when i have changed those params, and then 4: INS_LOG_BAT_MASK,1 - INS_LOG_BAT_OPT,4 is that correct?
vibrations, how would i fix that? isnt that a PID thing i would need to fix or do you mean the frame itself is vibrating alot? its just a 10in carbon fiber frame with some 3D print.
ESC, i am using a speedybee 60A ESC blheli, and honestly, i literlly spent 1 month trying to get 3 diffrent ESCs to work with my flight controller. and i FINALLY just got that one to work how its set up now, so i am hesitant to change it. but, if you give me a .param that will work better of give me telem data or something, i will try it out.
battery, depends, but most flights are 6000mah li-ion. all bats i use are Li-ion.
Then we’ll be able to figure out what you need for filter.
set the filter based on all of that.
Vibrations are a mechanical issue. The filtering will help deal with some of the issues caused by high vibrations, but some of what I see in the logs is a mechanical problem and can’t be solved by parameters. Here’s some reading about it: Measuring Vibration — Copter documentation
attached is the file of the flight test log. after changing the params that allister told me to, it works! theres no hopping or anything, works great. thank you for your help! mesage me your paypal. can you just overview the log still and tell me if i am doing anything majorly wrong?
