Hello all. I have an APM 2.6 w/ a 3DR power module running ArduCopter 3.2.1 [Latest] on a FW 450 quad frame flying beautifully in stabilize mode after some manual PID tuning sessions. When I flip my flight-mode switch into Loiter mode it also works nearly flawless until the "DCM BAD HEADING" warning pops up on the flight info part of the GUI which then causes the quad to drift away on its own.I understand that the DCM error is triggered when the compass is read incorrectly for one second and it can be caused by interference from ESC, motors, etc. Knowing this, I performed a compass/motor calibration which at first was not working correctly. I was getting a current reading of 0 and an interference % of 0 too. I performed the test with the battery connected to the power module AND the APM connected to my computer via USB. I continued to get 0 for both current and interference until I changed the batt_curr_pin to A1, or A2 ( sorry I forgot and the quad isn't by me at the moment) from the default value (I think it's A12). I was then getting current readings as well as interference so I followed up with a compass/motor calibration.QUICK NOTE: After getting a current reading, I noticed it spiking from 7A-40A throughout the entire flight simulating a wave form of some sort. Is this normal?I went to test loiter mode again and noticed an improvement of seeing less DCM BAD HEADING errors but they were still coming up. I'm not too sure as to what it can be at this point. My wiring is a little messy (ex. compass wires are rubbing against the wires that go from receiver to APM input). I was thinking about cleaning up the wire harness and redo the compass/motor calibration. Other than that does anyone have any suggestions as to what may cause the DCM error, no IMU, or the current spikes?Log file is zipped and attached! Any help will be highly appreciated!
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