Jacob Heller
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  • Cambridge, MA
  • United States
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Jacob Heller's Discussions

Can't get drone to fly level in stabilize mode

Started this discussion. Last reply by Jacob Heller May 13. 4 Replies

I am DESPERATELY trying to figure out why my hexacopter won't fly level in stabilize mode (not altitude hold, just regular stabilize).  Please please please help!  I'm using a Pixhawk.  The hex flew…Continue

Tags: tuning, PID, APM

Huge wobble when yawing and hard throttle up

Started this discussion. Last reply by Derek Jun 6, 2016. 35 Replies

Hey guys,I know I'm not the first person to complain of this, but I've been scouring the forums trying to find answer, and none have pointed to a solution that worked for me.  I have a beefy…Continue

Tags: wobble, stability, APM

Need help diagnosing logs for APM flyaway

Started this discussion. Last reply by Jacob Heller Aug 3, 2015. 2 Replies

I need help trying to figure out why my hexacopter running APM copter (version 3.2, I think, but I'm not sure how to check) suddenly had a mind of its own.  Here's what happened - you can see it all…Continue

Tags: multicopter, hexacopter, control, of, loss

 

Jacob Heller's Page

Latest Activity

Jacob Heller replied to Jacob Heller's discussion Can't get drone to fly level in stabilize mode
"Ok it's update time.  The first thing I did was balance the props.  This didn't make any difference.  Same swirly behavior followed by a crash. Then, I made a setup to strap down the hex and rev up the motors without taking…"
May 13
Peter Seddon replied to Jacob Heller's discussion Can't get drone to fly level in stabilize mode
"Props balanced? Motor mounting loose? Peter"
Apr 17
Andre K. replied to Jacob Heller's discussion Can't get drone to fly level in stabilize mode
"I did not check your logs, but the symptoms indicate exactly that."
Apr 16
Jacob Heller replied to Jacob Heller's discussion Can't get drone to fly level in stabilize mode
"So it looks to me like the vibrations are insanely high, but I'm not very good at reading logs.  Can someone confirm this for me?  That would be strange since the Pixhawk is mounted on vibration-dampening gel, so I'm not sure why…"
Apr 16
Jacob Heller posted a discussion

Can't get drone to fly level in stabilize mode

I am DESPERATELY trying to figure out why my hexacopter won't fly level in stabilize mode (not altitude hold, just regular stabilize).  Please please please help!  I'm using a Pixhawk.  The hex flew fine on an old frame, then, I moved to a new frame and all of a sudden stabilize mode won't work.  I didn't change anything!  Double checked that motors are laid out correctly and spin the right way!When the copter takes off it's very "swirly" and unresponsive.  I tried upping the values in the PID…See More
Apr 16
Derek replied to Jacob Heller's discussion Huge wobble when yawing and hard throttle up
"Hi Leonard, I completed a roll autotune, was wondering if you could take a look at it. The craft must not have been perfectly level as to get it to keep twitching I had to give it a little roll input each time. Do you think I should do the tune…"
Jun 6, 2016

Developer
leonardthall replied to Jacob Heller's discussion Huge wobble when yawing and hard throttle up
"HI Jacob, IMU messages are good for looking at low frequency vibrations that mess up your controllers. You should look at both the gyro and accel parts of the message. You can also see these issues as lots of noise on the output to the servoes or in…"
Jun 4, 2016
Rob_Lefebvre replied to Jacob Heller's discussion Huge wobble when yawing and hard throttle up
"I'm not saying the VIBE message is useless.  But you need to look at the IMU messages, GyroX,Y,Z and AccelX,Y,Z"
Jun 4, 2016
Jacob Heller replied to Jacob Heller's discussion Huge wobble when yawing and hard throttle up
"Ok, that's critical information that I shouldn't rely on VIBE for vibration monitoring then.  What is the best way to examine vibrations in that case?"
Jun 4, 2016

Developer
leonardthall replied to Jacob Heller's discussion Huge wobble when yawing and hard throttle up
"Hi Derek, The tune looks like it went much better. It looks like you have your roll over tuned though. I can see that your roll axis is oscillating every time that a yaw test is being done. How have you tuned roll and pitch? I can see they are both…"
Jun 4, 2016
Derek replied to Jacob Heller's discussion Huge wobble when yawing and hard throttle up
"Hi Leonard, (replying to this one as the others don't have a reply button to hit) I ran autotune with the AUTOTUNE_AGGR set to 0.1, the yaw filter set to 5hz and just the yaw axis. I was wondering if you could take a look at the dataflash log…"
Jun 4, 2016
Rob_Lefebvre replied to Jacob Heller's discussion Huge wobble when yawing and hard throttle up
"The VIBE message I believe is primarily intended to detect vibration problems which can cause problems for the EKF inertial nav system.  On smaller copters, it appears to be OK, or at least I haven't seen clear evidence of a problem (yet).…"
Jun 3, 2016
Andre K. replied to Jacob Heller's discussion Huge wobble when yawing and hard throttle up
"Rob: Thank you for confirming what I discovered. At first(when VIBE was introduced): I thought of it as the ultimate tool to get realtime information if there should be any unusual vibrations. Searching for a threshold value to make GCS and/or HoTT…"
Jun 3, 2016
Rob_Lefebvre replied to Jacob Heller's discussion Huge wobble when yawing and hard throttle up
"You cannot rely on the VIBE logs to determine if you have a vibe problem.  They go through a high-pass filter, and don't show low-frequency vibrations that can harm the ability of the PID loops to do their job."
Jun 3, 2016
Jacob Heller replied to Jacob Heller's discussion Huge wobble when yawing and hard throttle up
"Hey, sorry for the delay in response.  I was out of town previously and just had a chance today to mess with this.  I've attached my exported param file.  I tried setting all the parameters above like you said.  There seems…"
Jun 2, 2016
Jacob Heller replied to Jacob Heller's discussion Huge wobble when yawing and hard throttle up
"Interesting.  I read somewhere else that one way to address the efficiency issues on coaxial props is to use a smaller higher pitch prop on the bottom.  Why do you think it would be better the other way?  And why do you suggest 11.47…"
Jun 1, 2016

Profile Information

About Me:
I love drones and electronics in general. I'm also a software engineer, so I bring a software background to this field. I love it!
Please tell us a bit about your UAV interest
I fly drones just for fun in my free time. I would love to have a bigger community around me of people who do it too.
Hometown:
Boston, MA

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