Why quad doesn't want to disarm after landing? . Happened two times now (Arducopter 3.6.7)

ArduCopter Copter 3.6
42

I found now the solution for my problem with bouncing after landing (sky-hero spyder 700 with Pixhack v3) and falling on one side.
As I was not happy with the Loiter performance I reduced the default Loiter PIDs as follows:
P: 2,0 -> 0,6
I: 1,0 -> 0,3
D: 0,5 -> 0,1
After that tuning my Loiter and GPS Hold was perfect. I did then Autoland and the Copter landed without bouncing and it switched off. I repeated then 5 times, no issues.
I then used the old Loiter parameter, the problem was back (3 times).
Why this correlates,I don‘t know. Developers could perhaps answer.

Harald

1 Like
43

Harald,

Where are the “Loiter” PIDs located for configuration?

Thanks,

Paul

44

Look here: http://ardupilot.org/copter/docs/loiter-mode.html#loiter-mode-tuning

45

Thanks Harald,

Will try reducing the "Velocity PIDs.

Paul

46

Flying 3.6.8 singlecopter. Reduced the Velocity XY PIDs from 2.0, 1.0, and 0.5 to 1.0, 0.5 and 0.25 respectively but it made no difference in my case. The singlecopter touched down, and then was tipped over by the running motors.

Interestingly, when I tried to return the PIDs to their original default values, the interface did not allow it.

I will therefore leave them where they are now since it made no difference.

Thanks,

Paul

47

Backed the singlecopter back down to 3.6.6. It made no difference. It still autolanded and proceeded to tip over with the motors running.

Paul