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
Have you tried searching?
http://firmware.diydrones.com/Copter/stable/
Are you sure you do this test with the same vehicle and parameters?
I think this is the most post that revealing thing about that there is a problem with 3.2.1 ,at least with the vibration filter code.
I think the devolper team should think about keeping work on the 3.2.X branch to make it more stabilized
Have you been decreasing this parameter gradually or set 50 from the beginning?
Do vibrations on graph decrease or it just makes system insensitive?
PILOT_ACCEL_Z - maxium acceleration used when pilot is controlling the altitude.
Something tells me, that we can get issue on Auto missions. Do you have an opportunity to see how well it behave in Auto flight?
Seems like I'll be flashing my quad twice a day :D
By the way, while flashing 3.2.1 on MP 1.3.25 *4444 build at some point MP gets "Not responding", you need to know that process is still going on under the hood. Quite creepy moment :)
Here's the results:
This firmwares feel pretty close, but IMO 3.2 is a bit smoother. Maybe 3.2.1 behavior can be tuned by adjusting throttle accel, I haven't tried yet. But out of the box 3.2. works slightly better.
I have to mention, that it's weather change time here and slight side wind, like 1-3m/s no more.
Could you try out 3.2 firmware? I think it is closer to 3.1.5 than to 3.2.1.
It's easy to find out. I'll flash 3.2.1 rightaway.
Is this altitude abnormality can be seen in AC 3.2.0 also? Almost everyone is talking about this issue after upgrading to 3.2.1 from 3.1.5. Have anyone tried 3.2.0? I have observed that mounting APM inside a canopy makes difference (even if Baro is covered with foam). Pls look into this data. I haven't tried 3.2.1 yet.
APM 2.6_BaroAlt.xlsx
To get rid of this misunderstanding.
Situation A: We have small quad (5x3 props) that flies on 3.2.1 without canopy, but with baro covered with foam. It flies very well in my opinion, which could be because it doesn't have high amplitude vibrations, only lots of small ones.
Situation B: We have medium quad (10x4.5 props) that was tested on 3.2.1 with canopy and without.
Yes, because of bigger props that are closer to controller, and generate vibrations with lower frequency and higher amplitude (in common words, props spin with less RPM, but do much more powerful swing, which generates stronger vibrations but less often), covering controller with canopy gives positive results.
BUT at the same time, on 3.2.1 firmware with vibrations fitting into allowed +-3 corridor, it behaves very unstable.
At the same time, on 3.1.5 firmware behavior is solid and stable.
Which means, that problem appeared somewhere in between.
Ok, so here's result of testing 3.2 on my "3.2.1 unstable" quad.
1. I flashed 3.2 (MP was babbling about "flashing last version, borda enda suporta, maaan", but flased 3.2 as required).
2. Recalibrated compass (It is important thing that people tend to forget).
3. Forgot to put my inertial weight on APM, so it was catching all the small vibrations. (Some were damped though).
4. Did a small testing flight. Well, altHold was solid, and loiter mode was acceptable. IMO loiter could do position corrections in more fluid manner, but it was not twitchy and that's important.
5. Crashed :) Well... In loiter I decided to test how does it behave in forward flight, and drone started to descend. The cause was that battery got dried out (I have "land" failsafe on battery and voltage).
6. Set INS_6k_bla-bla-bla to 20Hz and tried to fly again. Noticed no changes, but due to dry battery I had not much time for experiments.
Bottom line.
It would be good for someone to also test 3.2 version of firmware. It should be somebody who has issue with 3.2.1, but flies stable on 3.1.5.
Thanks for watching :)
my hexa upgrade to 3.2.1 from 3.1.1 ,seems no problem with althold for the moment.
my vibrations is not so good ,aboutXY +-1.8;Z -9 ~-12。
maybe 3.2.1 sensitive to a certain frequency only.
BTW
if your quad would overshootafter a high speed flight in althold mode? (like below pic show)Do you have any ideal, how to fix it?
-
1
-
2
-
3
-
4
-
5
of 16 Next