Hi People,
The drone is flying smoothly but the vibration values of Y and Z are not in limit. I enabled notch filter but still it is not helping. Any suggestions!
Here is the link for log.
Incorrectly. And the Notch Filter doesn’t cure a bad mechanical vibration and it’s not it’s purpose. Logging for the Notch filter is wrong and you shouldn’t be flying any Auto Missions until tuning is complete.
What Frame is this?
It is a X frame.
The PIDs are following the desired roll, pitch and yaw. Initially I was only doing takeoff and there the vibrations were less than 16 units in Z axis and less than 7 units in Y axis. Then I gave auto mission and observed that the vibrations were very high. Then I read that by tinkering Notch filter the vibrations can be controlled so did the same and it is not helping.
That’s not true. The notch filter is to filter vibration before the PID Control Loop. And in any case you have configured it incorrectly (no reference) and logging for it is wrong also. You should follow a systmatic configuration and tuning process.
Well sure, but what X-frame? A junk plastic F-450 or something decent?
It is a custom X Frame. I have been using the same frame design for sometime now.
Post a picture
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Vibrations registered by accelerometer and filtered by separate filter - 10hz lpf by default, while frame noise registered by gyro and have much wider filtering options.
In general, Vibe issues are often caused by hardware-related factors.
Considering that this is a Custom X Frame, and that Vibe is high on both the Z-axis and Y-axis, I think we should inspect everything from the main frame on the A and D motor side to the arms, motors, and propellers. We should also inspect everything from the main frame on the B and C side to the arms, motors, and propellers.
Also, the MOT_THST_HOVER value is shown as 0.2832609. However, it seems that the values entered for PSC_ACCZ_P and PSC_ACCZ_I do not match the required values.
For example, if MOT_THST_HOVER is 0.28:
PSC_ACCZ_P: 0.28
PSC_ACCZ_I: 0.56
Thank you for the information. Earlier I was only working on ATC_RAT parameters only. Will read and understand PSC category parameters.
Regarding frame, i’m working on adding some re-enforcements to hold the motor and arm better. Will update if that works out.
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