Installed APM 2.6 on my quad, a fairly standard F450 setup except for 30A SimonK ESCs. It behaves very well and smooth in stabilize mode. However, as soon as I go to AltHold mode the motors start erratic revving, the quad generally rises around 1 m/sec until I go back to stab mode.
Baro is protected (standard 3DR case filled with foam). So far I have
- checked vibration levels (seem acceptable to me)
- adjusted throttle-mid to 650 (correct hover value)
- lowered THR_ALT_P and THR_RATE_P somewhat
All this to no avail, still erratic throttle out in AltHold mode. Is this a vibration issue or can it be solved by changing params ?
I am attaching a log of one of the first flights (default settings then still), one with the above changes applied. Any advice is much appreciated
Replies
Guess I just answered my own question - RTFM - vibration level is of extreme (!) importance.
Managed to decrease vibrations by at least half using AlphaGel blocks, the result is stunning
Vibrations before
Althold before (see me fighting throttle ....)
Live and learn :-)