Developer

Arducopter Drift issues

I wanted to start a conversation around the roll and pitch of Arducopter drifting as you fly.

 

The reason is I just assembled new hardware and problems that weren't there before have now shown up in a bad way. Flying indoors in a 5ft space I was able to get up to 30° error in roll and around 10-15° in pitch. I was able to control it and it flew perfectly level the whole time, I just had to hold the stick into the corner of the radio. Lading and waiting corrects the issue.

 

What could cause this. I had been flying an older version of the IMU this whole time. This version has an analogue filter for the gyros where the new hardware has it as an option. You must solder the pads around the gyros to enable them. I was also flying with two slightly tweaked motors giving off a lot of vibration. This could affect the accels. 

 

My question is: If you have a problem like this, what is the vibration level on your copter, and do you have the filter pads soldered? 

 

And notice I didn't say "loss of control" or "it didn't fly stable". I had control, and it flew perfectly. It just lost it's reference to the ground and I had to compensate with the stick. Had it been worse than 45° I would have lost control. 

There are three pairs of pads, each with a white outline. (look for GYRO-XY near the relay).

Jani Solders his to enable the filter. I have never flown this board until now. I will solder them to test the filters this week.

3690871683?profile=original

 

You need to be a member of diydrones to add comments!

Join diydrones

Replies are closed for this discussion.

Replies

  • hi  it semes to be the artificial horizon drift after along fast pass at the same hading dirction more than anything  
       
    -
  • the discussion and the the amount of responses is a big surprise to me.

    i thought i was the only one having the problem ...

     

    in 0.23 yaw causes low frequency oscilations.

    will test with the pirates trunk - that code base is rock stable.

  • Wanted to add to this, just in case it's useful information: each time I lift off I start stable, and immediately the copter begins adding progressive drift and I need to deflect the sticks more and more to hold position.  I believe but can't swear that the initial drift comes from ambient wind, but (as an example, velocity is totally made up though) if the copter begins by drifting with the wind at ~0.5 knots and I spend a few minutes holding it in position with the sticks, when I release the sticks it heads off in the same general direction at ~4 knots.  At this point the copter is not level and is clearly heading in that direction because of the airframe's tilt.

    If I engage GPS loiter mode just after taking off but before the drift starts to be a problem, it holds fairly well, but the drift starts again aggressively as soon as I go back to Stable mode.  If there is a bunch of drift present and I engage GPS loiter mode it does not work, the just copter drifts off in the same direction in that mode as well and doesn't seem to do anything to conteract it.  I've let it get 30' to 40' from the position where I engaged Loiter to see if it was planning to correct and it doesn't.

     

    Hope some of this helps make sense of it.

  • ok, i soldered the pads and flew for a few minutes.

    i have a normal drift because my copter is in a bad shape - perfectly for testing because i don't care about landing belly up.

    i did not notice any bad behaviour - so no warning because of soldering the two pads - for those worried.

     

    i know exactly the behaviour of bad gyro drift because i lost one copter.

    up to now i did not notice a gyro drift. i need nice wind to fly - then i can tell if the gyro drift is gone because of the soldered pads.

     

  • so the recommendation now is to solder these jumpers.. is there a down side to doing so?
  • Is their another way besides the ch7 trim (details are nowhere to be found), to adjust the acc so that tx trimming won't be used?

  • i was flying the latest code yesterday, and there was a noticable drift to the left, (stable mode) so i did an aileron trim and it was flying a bit better but it still drifts on roll and pitch. 

     

    filter pads are not soldered, and there is no damping on the board.. i would say there is a sight vibration detected on the imu.

  • While you need the sticks to go out of center to keep hovering, does the imu roll and pitch sent to the telemetry are coherent with the attitue of the copter (around zero)?
  • I have the same issue using 2.0.23, starts off dead stable and as I fly I have to use more and more stick to keep it in place.  It looks like the drift tends to start off in a random / wind-driven direction, but as it compensates for the stick the direction stays constant.  Eventually, I have to land; landing for 10+ seconds seems to fix the problem.

     

    I have a stock frame + sonar, magnetometer, and GPS, don't have the pads soldered, and don't fly with R/C trims.

  • "but arms and engine direction can change after a bumpy landing etc."

     

    Dude, that's a crash :)

     

This reply was deleted.

Activity

DIY Robocars via Twitter
RT @a1k0n: Did I get rid of hand-tuned parameters? Yes. Am I still hand-tuning more parameters? Also yes. I have a few knobs to address the…
Monday
DIY Robocars via Twitter
RT @a1k0n: I'm not going to spoil it, but (after charging the battery) this works way better than it has any right to. The car is now faste…
Monday
DIY Robocars via Twitter
RT @a1k0n: Decided to just see what happens if I run the sim-trained neural net on the car, with some safety rails around max throttle slew…
Monday
DIY Robocars via Twitter
Saturday
DIY Robocars via Twitter
RT @SmallpixelCar: @a1k0n @diyrobocars I learned from this. This is my speed profile. Looks like I am too conservative on the right side of…
Saturday
DIY Robocars via Twitter
RT @a1k0n: @SmallpixelCar @diyrobocars Dot color is speed; brighter is faster. Yeah, it has less room to explore in the tighter part, and t…
Saturday
DIY Robocars via Twitter
RT @a1k0n: I'm gonna try to do proper offline reinforcement learning for @diyrobocars and throw away all my manual parameter tuning for the…
Sep 23
DIY Robocars via Twitter
RT @circuitlaunch: DIY Robocars & Brazilian BBQ - Sat 10/1. Our track combines hairpin curves with an intersection for max danger. Take tha…
Sep 22
DIY Robocars via Twitter
RT @SmallpixelCar: Had an great test today on @RAMS_RC_Club track. However the car starts to drift at 40mph. Some experts recommended to ch…
Sep 11
DIY Robocars via Twitter
RT @gclue_akira: 世界最速 チームtamiyaのaiカー https://t.co/1Qq2zOeftG
Sep 10
DIY Robocars via Twitter
RT @DanielChiaJH: Always a good time working on my @diyrobocars car at @circuitlaunch. Still got some work to do if I’m to beat @a1k0n howe…
Sep 10
DIY Robocars via Twitter
RT @SmallpixelCar: My new speed profile for @RAMS_RC_Club track https://t.co/RtLb7TcgIJ
Sep 10
DIY Robocars via Twitter
RT @SmallpixelCar: Practiced at @RAMS_RC_Club today with my new @ARRMARC car https://t.co/AEu2hCx89T
Aug 28
DIY Robocars via Twitter
Aug 24
DIY Robocars via Twitter
RT @gclue_akira: 柏の葉で走行させてるjetracerの中身 #instantNeRF #jetracer https://t.co/giVvuE4hP7
Jul 4
DIY Robocars via Twitter
Cool web-based self-driving simulator. Click save when the AI does the right thing https://github.com/pncsoares/self-driving-car
Jul 4
More…