AC3.2.1 APM 2.5 Throttle pulsates in Loiter

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?

Log.bin

Log_Vibration.bin

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –

Replies

  • 3701988096?profile=original

    3701988014?profile=original

    3701988108?profile=original

    3701987936?profile=original

    3701988031?profile=original

    3701987948?profile=original

    hi,
    I ran the tests on APM 2.6 fw 3.1.5 and 3.2.1 with the same parameters, the result is that the firmware 3.1.5 are very stable in alt hold while the firmware 3.2.1 is very unstable, does anyone know tell me why?

    • 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

    • FW3.2.1 I solved by lowering the value of the parameter PILOT_ACCEL_Z FROM 250 TO 50 NOW is VERY STABLE IN FLIGHT and should not be more 'up and down

      • 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 :) 

        • I immediately set the parameter to 50 and hold alt works fine I do not know if there are problems in AUTO mode why not use it for aerial video

    • Have you tried setting MPU6K_FILTER = 20 as described earlier in this thread?  I think this is what solved the problem for me.

      • 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.

        3702695503?profile=original

        3702695335?profile=original

        • the 3.2.1 is not quite perfect 3.1.5 is much more 'stable,moreover the 3.2.1 detects many more 'vibrations

This reply was deleted.

Activity

DIY Robocars via Twitter
RT @chr1sa: Donkeycar 4.4 released with tons of new features, including path learning (useful with GPS outdoors), better Web and Lidar supp…
Nov 27, 2022
DIY Robocars via Twitter
RT @NXP: We are already biting our nails in anticipation of the #NXPCupEMEA challenge! 😉 Did you know there are great cash prizes to be won…
Nov 24, 2022
DIY Robocars via Twitter
RT @gclue_akira: レースまであと3日。今回のコースは激ムズかも。あと一歩 #jetracer https://t.co/GKcEjImQ3t
Nov 24, 2022
DIY Robocars via Twitter
UC Berkeley's DIY robocar program https://roar.berkeley.edu/
Nov 24, 2022
DIY Robocars via Twitter
RT @chr1sa: The next @DIYRobocars autonomous car race at @circuitlaunch will be on Sat, Dec 10. Thrills, spills and a Brazilian BBQ. Fun…
Nov 24, 2022
DIY Robocars via Twitter
RT @arthiak_tc: Donkey car platform ... Still training uses behavioral cloning #TCXpo #diyrobocar @OttawaAVGroup https://t.co/PHBYwlFlnE
Nov 20, 2022
DIY Robocars via Twitter
RT @emurmur77: Points for style. @donkeycar racing in @diyrobocars at @UCSDJacobs thanks @chr1sa for taking the video. https://t.co/Y2hMyj1…
Nov 20, 2022
DIY Robocars via Twitter
RT @SmallpixelCar: Going to @diyrobocars race at @UCSDJacobs https://t.co/Rrf9vDJ8TJ
Nov 8, 2022
DIY Robocars via Twitter
RT @SmallpixelCar: Race @diyrobocars at @UCSDJacobs thanks @chr1sa for taking the video. https://t.co/kK686Hb9Ej
Nov 8, 2022
DIY Robocars via Twitter
RT @PiWarsRobotics: Presenting: the Hacky Racers Robotic Racing Series in collaboration with #PiWars. Find out more and register your inter…
Oct 23, 2022
DIY Robocars via Twitter
RT @Hacky_Racers: There will be three classes at this event: A4, A2, and Hacky Racer! A4 and A2 are based around UK paper sizing and existi…
Oct 23, 2022
DIY Robocars via Twitter
Oct 23, 2022
DIY Robocars via Twitter
Oct 19, 2022
DIY Robocars via Twitter
Oct 18, 2022
DIY Robocars via Twitter
RT @NeaveEng: Calling all UK based folks interested in @diyrobocars, @f1tenth, @donkey_car, and similar robot racing competitions! @hacky_r…
Oct 13, 2022
DIY Robocars via Twitter
RT @araffin2: 🏎️ After hours of video editing, I'm happy to share a best of my Twitch videos on learning to race with RL. 🏎️ Each part is…
Oct 13, 2022
More…