Crazy barometer climb rate problem (AC v3.2.1)

Hello drone maniacs ;)

I have really strange problem and trust me, before I decided to create this topic I spent extreme big amount of time to find a solution... for now without success. Maybe with your help we can change it ?

What is the problem ?

My drone in LAND flight mode is not disarming correctly when he reach ground. Motors finally will stop spinning but after random amount of time (not just after landing like they should).

What causes the problem ?

After investigation and digging in AC source code I found guilty - Barometer Climb Rate.

file ArduCopter/land_detector.pde, line 16

bool climb_rate_low = (abs(climb_rate) < LAND_DETECTOR_CLIMBRATE_MAX) && (abs(baro_climbrate) < LAND_DETECTOR_BARO_CLIMBRATE_MAX);

Absolute value of climb rate should be below 150 (cm/s). As you suppose in my case this value is greater most of the time (which you will see in logs that I attached).

I use additional sonar (mb1240) so you can compare barometer attitude with it to see the difference.

What I did to try fix the problem?

All test were made WITHOUT PROPELLERS at HOME, drone was moved always by me.

1) Clear EEPROM and load again 3.2.1 firmware

2) Created new foam to prevent overheating (found post that this can help)

3691304976?profile=original

3) I made a ton of tests

4) Took APM outside(drone frame) for tests (no vibrations, baro problem still exist)

Summary

If I'm lucky for enough amount of time climb rate will be lower then 150 and drone will be disarmed but luck is not exactly what expected from APM :). My only idea for now to "fix" this issue is build new firmware with higher LAND_DETECTOR_BARO_CLIMBRATE_MAX value but this is a last resort. Before I do this I prefer ask YOU guys, maybe you will have some better idea...

baro_climbrate_problem.bin

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

Join diydrones

Email me when people reply –

Activity

DIY Robocars via Twitter
RT @a1k0n: @SmallpixelCar @diyrobocars It's just something that's easy to track with chroma keying. I ended up using different colors on th…
4 hours ago
DIY Robocars via Twitter
4 hours ago
DIY Robocars via Twitter
RT @TinkerGen_: "The Tinkergen MARK ($199) is my new favorite starter robocar. It’s got everything — computer vision, deep learning, sensor…
Nov 23
DIY Robocars via Twitter
Nov 23
DIY Robocars via Twitter
RT @roboton_io: Join our FREE Sumo Competition 🤖🏆 👉 https://roboton.io/ranking/vsc2020 #sumo #robot #edtech #competition #games4ed https://t.co/WOx…
Nov 16
DIY Drones via Twitter
First impressions of Tinkergen MARK robocar https://ift.tt/36IeZHc
Nov 16
DIY Robocars via Twitter
Our review of the @TinkerGen_ MARK robocar, which is the best on the market right now https://diyrobocars.com/2020/11/15/first-impressions-of-tinkergen-mark-robocar/ https://t.co/ENIlU5SfZ2
Nov 15
DIY Robocars via Twitter
RT @Ingmar_Stapel: I have now explained the OpenBot project in great detail on my blog with 12 articles step by step. I hope you enjoy read…
Nov 15
DIY Robocars via Twitter
RT @DAVGtech: This is a must attend. Click the link, follow link to read the story, sign up. #chaos2020 #digitalconnection #digitalworld ht…
Nov 15
DIY Robocars via Twitter
RT @a1k0n: Got a new chassis for outdoor races (hobbyking Quantum Vandal) but I totally didn't expect that it might cause problems for my g…
Nov 11
DIY Drones via Twitter
First impressions of the Intel OpenBot https://ift.tt/36qkVV4
Nov 10
DIY Robocars via Twitter
Nov 9
DIY Robocars via Twitter
Excellent use of cardboard instead of 3D printing! https://twitter.com/Ingmar_Stapel/status/1324960595318333441
Nov 7
DIY Robocars via Twitter
RT @chr1sa: We've got a record 50 teams competing in this month's @DIYRobocars @donkey_car virtual AI car race. Starting today at 10:00am…
Nov 7
DIY Robocars via Twitter
Nov 6
DIY Robocars via Twitter
RT @a1k0n: Car's view, using a fisheye camera. The ceiling light tracking algorithm gave me some ideas to improve ConeSLAM, and having grou…
Nov 5
More…