HI ALL
I use the DJ airframe and pixhawk .
Tune the PID by autotune firstly,and the use the channel6 knob for the detail.
And do the compass carlibration OK.
Stabilise Althold Auto modes are all ok.Loiter is OK when hold the position,But when I pitch the quad,
It can not fly straightly (roll right or roll left randomly).The same problem when I use roll stick forward(pitch right or roll left randomly).
Firstly I thinked the PID can not control the attitude when Loiter flying becs of the wind.I tuned the Roll Rate I bigger but the problem is still there.
I checked the log NTUN ,ATT and RATE the PID seems very good (RATE roll/pitch are not very good)
the Virations seem OK.
And then I thinked maybe the EK2 worked not health(filter reset will make the pos shift).I tune the pos/vel noise and Gate value and check the log NKF3 and NKF4,the innovations and The ratio of P seem ok,except the ratio of vel is a bit high.
this problem disturb me 2 months. can anyone give me some advice.Thanks in advance.
the attachement is my log.
Replies
hi craig
the drone can not get the right yaw on every direction?
If it is,is there a good algorithm can solve this problem?
Craig said:
hi craig
the drone can not get the right yaw on every direction?
If it is,is there a good algorithm can solve this problem?
thx craig
the pre-arm check i will enable it;
the MOT_SPIN_ARMED and THR_MIN value i will reset them;
you said "You are asking for problems without going any further",it means this problem is the bug in APM now.
thx again for you help.
I would NOT fly this right now for any reason. Your VCC is horrible with 4.8v max and a min of under 4.4v. You are asking for problems without going any further. Your vibs are really good. Though I do see some odd oscillations. But by and large it is looks fine as far as vibs go.
I also would not fly with all those disabled pre-arm checks.
Another issue
Warning: MOT_SPIN_ARMED is greater then THR_MIN parameter, this is dangerous!
Get a power module that can handle your current batteries.
Just how many cell Lipo are you using? a 10S?