Hi.
I have a problem after updating AC to 3.2.1 from 3.1.5.
When in Loiter, the the speed of the motors rev up and down/pulsate quite rapidly. This was working fine when I was using previous versions of arducopter.
I have downloaded the logs, and have looked into accX, accY and accZ. These seems to be inside the range specified in the wiki at arducopter. (Log_vibrations.bin)
Please have a look at the Log.bin, and note the difference between ThrIn and ThrOut when I'm in Loiter mode.
Anyone having any idea what the problem may be?
Replies
i definitely agree with that...cause I have 3.2.1 on another copter that doesnt have as much vibration and it works fine...so its that 3.2.1 is more sensitive to vibration than 3.1.5 for sure....
Could you do IMU log and post what maximum vibration level do you have on copter?
Methodics described here: http://copter.ardupilot.com/wiki/initial-setup/assembly-instruction...
Yep, it is. It drifts either up or down and have unsteady motor spin.
Rollback to earlier version or try to isolate vibrations (official manual).
Use the Force, Luc! Via Mission Planner, in "Install firmware" section there is "Pick previous firmware" in lower right corner. Then it will give you choice of old releases.
As funny as it is, it can be caused by cheaper IMU sensors on HK clone boards. Without sufficient (and maybe excessive) resolution, board may just not "see" small fluctuations and vibrations, so it doesn't try to compensate.
In opposite to that, brand APM board detects not only aircraft orientation changes, but also senses small vibrations caused by motors and airframe rotation motor resonance.
It's just a theory, but that's the best explanation I have for a moment.
In neighbor theme there was mentioning, that with vibration dampening 3.2.1 firmware flies pretty satisfactory.
Installed V3.1.5 again today,
Result: Loiter, RTL and Althold are again working as they should.
I also have this issue with 3.2.1. Worked fine before with older firmware. I have tried tuning the throttle PID´s but have not had any success with that. Anyone know where to look? is it fixable with tuning or is it a bug in firmware?
I honestly tried to make the best of PID tuning, but if "alt hold" had satisfactory results in 3.2.1, then in "loiter" mode it was "blowing the roof of".
I guess there's and issue in math. EKF likes to do "additive alt increase" bu it was said that in new firmware EKF is not enabled by default.
Anyway, flying good on 3.1.5
well ill be damned....I just posted a new thread on this same similar problem and I just downgraded to 3.1.5 like you guys suggested and its smooth as a baby now, no surges at all....all problems solved!!
I had exactly the same issue, but with that difference, that I had 3.2.1 firmware from start.
After some reading I run into APM forum topic, that was telling about altitude drift.
Following suggestions I flashed 3.1.5 without changing ANYTHING else.
Magic! It worked! On top of that I got old console back (without mavlink binaries falling to console) and need to download logs via console, which is tolerable imo.
Verdict: ArduCopter 3.2.1 need extensive debug and is not ready for release.
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