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
Guys, you can't just take and use everything is written in this topic thoughtless!
Analyze what is all about.
See, PILOT_ACCEL_Z changes only the way copter reacts PILOT input. It does not affect AUTO missions. In fact you are one lucky guy to get your drone back in one piece.
The man who posted about setting PILOT_ACCEL_Z to 50 wrote that he is NOT using AUTO mode, so it was partial solution that fits for him, but not resolve issue.
In fact, there should be some error in math concerning use of Z accel in altitude hold that can not be corrected with random settings change. To get reliable result you should be aware of what you're doing.
I recommend:
1. Vibroisolate controller. In perfect case - redo all motors and prop balancing.
2. Flash 3.2 (in my case it's acceptable compromise between features of 3.2* version and stability of 3.1.5
3. Configure drone from scratch. Redo all calibrations, especially compass needs attention.
Run autotune, and then fine tune PID's on fresh battery.
4. Make at least 5-10 successful flights in different weather conditions in manual mode before starting AUTO missions.
Agreed...
Personally, I just regig'd the Vibration System in my Thorax Mini.
Achieved vibration decrease by 40%
Successful AutoTune completed.
FineTuning Commencing weather permitting...
Sound advice....
OK, so here's progress so far.
1. Tricopter runs good on 3.2.1.
2. Quad is running 3.2. Board is vibrodampened and a bit stabilized with wight. Flies pretty OK, but it seems to me that AutoTune needs to be redone. Stops are very fuzzy, looks like D parameter is not enough.
Loiter mode is good, AltHold is good.
Couldn't get BATT_VOLT2 working though, for no particular reason. It just don't work.
Well, I don't have the same options that you do in CTUN but I was able to use my GPS data and Baro data for ALT to get this graph. I am assuming the lag with GPS is that it is not as direct to get the response from the SAT the ALT.. but my Alt Hold is 80% better now that I have removed some foam covering the baro and changed the vibration dampening. I am running 3.1.5 too.
Jesse, your Z levels looks too high at least for 3.2.1 with that level you can't have good althold
F450 810 KV APM 2.6 3 cell 10x4.5 props 3.21FW
I have changed my PILOT_ACCEL_Z FROM 250 TO 50 and set vib to 20 from 0
Seems better will do more testing !
Is there anyone fly with 3.2.1 ,and everything is good ?
I want to know what kind of factor makes them fly well with 3.2.1? good anti-vabration ?
For 3.2.1,I got overshoot in roll or pitch axis if I let go the roll or pitch stick too quick after high speed flight .Now I solved this problem by reducing thr_acc_p to 0.38 ,the default is 0.5.
I'm flying well in 3.2.1 in a low kv cuad, thiny gel doble sided tape 3m. perhaps is not as stable for smooth video during a windy day but it's not my interest; I like to fly long endurance FPV, and take photos during windy days too..
Here you have a horrible video flying 3.2.1 in windy day; I try to film and fly at the same time = nothing well but you can have an idea first part is to show wind with trees and them move to an open area to show how it flies with that wind . https://vimeo.com/122211422
In addition ,I also raised up my rate_p and rate_I(roll and pitch ) both to 0.31, the default is 0.15 .Now the overshoot is not very obvious.
Now I have my problematic cuad in the air again, I wait for an external compass, not yet the 3DR one but a friend HK one and was anxious to test what happens when I move the APM to the main plate fixes with thiny foam doble sided tape as Randy indicates, I put the compass on a gps mast;
First the GPS that it was on one arm and working well didn't like to see the compass on his mast, o sats, I moved the GPS to the mast and works well, (not the compass) I test with windy day what happens and no more problem with pulsates in alt Hold :D :D , I couldn't test pos hold so much for the compass but it was again a silly bolt so I removed it and tomorrow I test again, the main change for me was can fix the APM on the main plate with very little movement, vibrations are under control but nothing brillant, I have to try to tune better the cuad now but It's another cuad I'm very happy, It's looks better too altitude hold when I fy to left, after this changes It loose altitude very quickly If flies agressively. I'm going to share how continues my test
Here the APM mount
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