I am sure that this topic is getting beat to death but i can't find a working solution.
my bird is a 76 cm Hexa with the APM 2.0. It has 1000 kv motors with 10.5" props. It flies great in stabilized mode but when I switch to altitude hold it slowly descends and then shoots up a what sounds like full throttle.
I am using sonar and I believe that I have my vibrations well within tollerance.
I have been trying to get it to work properly by changing the throttle accel settings but to no avail.
I have included a log file and a couple of pics of my bird. It's been a build going on for about a year but im still to nervous to put on my FPV gear.
It's outfitted for night flying too.
Replies
just to go to the interesting thing, i get nice altitude hold (soft 3.0 rc6) for a while, ad it goes full throttle at random moment. I had 3 min hold and throttle up then and also a 7 min alt hold before it tried to fly away...
Jan, I will lower my throttle mid more and yes the spikes are landing.
Thanks again.
I am open to other suggestions as well while I'm waiting for the rain to stop.
Barry.
Barry,
I had a look at your logs and at first sight it seems that your average throttle is about 361 which means that you are under the deadband limit (40% - 60%).
I saw that you already reduced the Thr_mid to 480 but I would suggest to lower it even more to match your hoover throttle (370).
It is no issue of vibrations as your AccZ seems fine except for 2 spikes but that must be due to landing I supose.
Have you tried without sonar?