Discussions

AC3.2.1 APM 2.5 Throttle pulsates in Loiter

Posted by Rolf Inge Sivertsen on February 24, 2015 at 1:47am

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

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Replies

    • Henny V > Andrew Harvey April 5, 2015 at 8:36pm

      Hi Andrew

      I am also using HK pilot 2.7 as well a beginner to this wonderful hobby. I am running 3.2.1 as my very first version of Mission Planner so I don't know what came before.

      As far as setting up the software to fly I encountered a number of 3.2.1 software and hardware issues.

      The HKpilot 2.7 has a jumper next to the GPS port that must be removed if you are using an external compass  as well as setting the Mission Planner software toggle to external before performing GPS calibration.

      There was another listing on this problem with the download of 3.2.1 and that was the value of

      ATC_ACCEL_RP_MAX set too low. have set mine to medium 108000 and

      ATC_RATE_RP_MAX set to 25000.

      Also your throttle mid position setting may need tweaking.

      Cheers

      Apparently the 3.2.1 download has very low values which cause a problem.

                  

      • Andrew Harvey > Henny V April 6, 2015 at 1:07am

        Hey there,

        I made sure to remove the jumper for the external compass and calibrate it. I'll definitely look into those parameters you mention though.

        Thanks!

        • Andrew Harvey > Andrew Harvey April 6, 2015 at 1:32am

          Update: I just checked my parameters...

          ATC_ACCEL_RP_MAX is 0

          ATC_RATE_RP_MAX is 18000

          • Henny V > Andrew Harvey April 6, 2015 at 2:09am

            Hi Andrew the pulsating throttle value in my machine was mainly due to Throttle Accel I set it to P=.8 I= 1.6. I still get some pulsating in ground effect however above 2 meters its fine. The ATC value effects Stabilize and Throttle hold roll and pitch response. My machine felt slow and sluggish until updating the ATC values. 

            Good luck, there is a lot to learn.

            Cheers

  • Sean Desbiens April 5, 2015 at 9:45am

    I have the same problem.  Rolling FW back cured it...however I am going to try changing Throttle Accel PID's today to see if I can get back to latest FW.

    • Mevolent > Sean Desbiens April 5, 2015 at 1:50pm

      Hello, I've got the same problem, height pumping and fast altitude gain even in stabilize mode... My baro is well protected and I've changed almost all things with throttle pids, baro settings, gains etc, autotune few times, tuning pids by myself too, checking baro foam... Rollback to 3.1.5 and altitute hold not working as it should, only on loiter it works rather good, but when I'm moving my quad it starts to ascend very fast... I tried almost everything, with soft rollback too... (other props etc.)

    • Sean Desbiens > Sean Desbiens April 5, 2015 at 1:32pm

      Worked!! but still not liking something...was running perfect in 3.15, something not right in 3.2 with how it is handling AND running flat out in poshold lost altitude suddenly and had no throttle response until I switched out to stabilize.  Almost lost her.  Might stick with 3.15 for now.  I'm very inexperienced so recovery from "bad stuff" is a little sketch for me lol. 

  • Henny V April 5, 2015 at 2:36am

    I has a similar problem and adjusting Throttle Accel PID,s fixed this. See http://copter.ardupilot.com/wiki/altholdmode/

  • DG April 3, 2015 at 5:59am

    I have PIxhawk on a Y6 with pulsing motors, which I assumed to be sync problems. After recalibrating the motors seem to smooth out, but over time it comes back.

    Does switching back to 3.1.5 require a full redo of the setup?

  • piku April 3, 2015 at 12:38am

    Guys. It worked for me. However, it was the vibrations. I moved apm on the top of f550 and install new dumper. It flies like a charm on any settings.

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