I made a drone with a wheelbase of 250mm, and during actual flight, I noticed that the plane twitched slightly. From the ground station observation, I found that the vibration was much lower than the average level. Previous observations have shown that the vibration was too large, but this small vibration is the first time I have discovered it. Is this caused by the flight control being too soft to observe the motor vibration? What consequences will this situation of low vibration have, as I have been flying for several hours already.
This is the flight log
绿联私有云 提取码：X65P
The log is asking for a (I assume) a password.
绿联私有云 extraction code：X65P
What on earth is ArduCopter v2.02? Custom firmware, I assume. Using your own version control makes it very difficult to assess where this branched from supported firmware.
There is no such thing as too little vibration so long as the autopilot mount is not so soft that it over-damps motion from the frame to the autopilot. If the mount were extremely soft, you’d expect to see a phase lag in attitude along with possible oscillation. I don’t really see excessive phase lag, even when zoomed in pretty tightly.
What I do see is that arming checks are disabled (never do this) and GPS auto configuration is disabled (usually don’t do this).
You might benefit from using MagFit.
Your current monitor is a bit suspect. It shows you hovering at only 4A, which seems quite low, while your battery state of charge drops pretty fast by comparison to the total current usage.
The battery failsafe is doing nothing to protect you with both low and critical voltages set at 11V on a presumably 4S system (13-14 volts would be smarter, along with enabling RTL or LAND actions).
If ESC telemetry is available, you should connect and enable it.
That’s as much as I looked at, especially given that this firmware is unique.
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Do you mean that the vibration frequency is very low?
Low and weak are different words.
This is a custom firmware based on 4.4.2. I set the voltage protection and arming checks myself. Besides these, can I see any other issues with the flight? The plane is shaking while hovering, I don’t know what problem is causing it.
How to distinguish between low and weak vibration, and are there parameters that can indicate whether the aircraft is normal
low frequency is measured in Hz
weak oscillation refers to amplitude
The first is frequency the second is amplitude. They are very, very different.
Which type is yours?
How is the flight controller mounted? Are you using a vibration damper or soft mounts? That can mask what’s really going on with the drone.
As far as I can see, RCOU doesn’t seem to show output oscillation to any significant degree.
Your 4.4 firmware branch is nearing 2 years old. I’d suggest to pull 4.7 into your branch once it’s released as stable.
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