Finally airborne but still issues

Hey guys, so after 9 months I finally got my large quad in the air. I changed ESC's from afro 30a to Hobbywing 40a. I went 40a just because. Anyway, I am running a pixhawk on a x650f frame that has been stretched. I am using 4114 330KV motors with 15inch props. So after changing out ESC's she finally gets into the air.

The issue now is that it does not hold throttle properly. Say I am at 40% throttle on the transmitter and I hold it there the quad does not respond properly. It will throttle up shoot up in the sky and then throttle back down so far that is come falling out of the sky. I can at least keep it from crashing but something is not right.

So here I am asking for help from you fine people. I've included the log of the last flight as well as backup of my setup file from mission planner. Thanks for any help guys!

2017-04-29 18-00-46.log

x650f.param

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Replies

  • Tyler,

    I don't see anything fundamentally wrong other than you were flying in Stabilize mode with a significantly over powered craft.  As such, you are controlling the copter altitude manually with the throttle and small inputs can cause large altitude accelerations in that mode.  Try flying in Altitude Hold or Position Hold modes and it should fly fine.  It looks like you are running the latest (or later) version of the APM firmware.  I could not find the THR_MID parameter in the param file (it may be gone in later FW versions).  That parameter allows you to scale the throttle mid-position so the copter will hover mid-stick in non-altitude hold flight modes.  Your copter was hovering with about 25% power.  You should try to match the power and weight so it hovers closer to 50%. 

    In the later versions, the MOT_THST_HOVER parameter is used to set the throttle mid position in non-altitude hold modes.  See the section on Tuning and follow those procedures.  That should get you there.

    http://ardupilot.org/copter/docs/ac_throttlemid.html

    You might want to check your prop balance as there was a significant vibration in the Y-axis.  This can sometimes cause stability problems.

    Setting Hover Throttle — Copter documentation
  • Tyler:

    I'm flying a Tarot 650 frame with Tarot 4114 330KV motors, 15 inch props, a 6s battery, and a Pixhawk clone controller running Ardupilot 3.4.6.  I've never had a problem, and I haven't even completed a full auto-tune yet.  You can find a complete parameter dump from my quad and a list of differences between my config and your config at: https://gist.github.com/larsks/933b7c7d80093a71790439eafcd5d077

    You can ignore a chunk of that (e.g., compass and transmitter calibration values), but maybe something there is interesting. I don't know enough to offer any specific suggestions.

    3702372060?profile=original

    # This is a list of paramaters that differ between my config and yours.
    # PARAMETER NAME YOUR VALUE MY VALUE
    ACCEL_Z_I 1.0 1.08
    ACCEL_Z_P 0.5 0.54
    AHRS_TRIM_X 0.007865117 -0.021521
    AHRS_TRIM_Y 0.01648002 0.017848
    ATC_ACCEL_P_MAX 110000.0 34805.0
    ATC_ACCEL_Y_MAX 27000.0 9374.746094
    ATC_ANG_PIT_P 4.5 2.744575
    ATC_ANG_YAW_P 4.5 5.306485
    ATC_RAT_PIT_D 0.0036 0.004356
    ATC_RAT_PIT_FILT 20.0 10.0
    ATC_RAT_PIT_I 0.07 0.049057
    ATC_RAT_PIT_P 0.09 0.049057
    ATC_RAT_RLL_FILT 20.0 10.0
    ATC_RAT_RLL_I 0.07 0.12
    ATC_RAT_RLL_P 0.09 0.12
    ATC_RAT_YAW_FILT 5.0 1.189134
    ATC_RAT_YAW_I 0.018 0.040387
    ATC_RAT_YAW_P 0.18 0.40387
    AUTOTUNE_AGGR 0.05 0.1
    AUTOTUNE_AXES 7.0 1.0
    BATT_AMP_PERVOLT 18.0018 17.0
    BATT_CAPACITY 5200.0 5000.0
    BATT_VOLT_MULT 10.10101 10.126
    BRD_SAFETY_MASK 16368.0 0.0
    CH12_OPT 0.0 29.0
    CH7_OPT 17.0 32.0
    CH8_OPT 29.0 13.0
    CLI_ENABLED 1.0 0.0
    COMPASS_DEC -0.07305907 0.0
    COMPASS_DIA2_X 1.0 0.903535
    COMPASS_DIA2_Y 1.0 0.940987
    COMPASS_DIA2_Z 1.0 1.086146
    COMPASS_DIA_X 0.8604814 1.027405
    COMPASS_DIA_Y 0.8001444 0.910261
    COMPASS_DIA_Z 1.107864 1.093531
    COMPASS_LEARN 1.0 0.0
    COMPASS_ODI2_X 0.0 -0.080474
    COMPASS_ODI2_Y 0.0 0.018165
    COMPASS_ODI2_Z 0.0 0.042771
    COMPASS_ODI_X -0.01783295 -0.014242
    COMPASS_ODI_Y -0.0007556562 -0.00365
    COMPASS_ODI_Z 0.007022934 0.02182
    COMPASS_OFS2_X 21.0 -156.119751
    COMPASS_OFS2_Y -124.0 246.328552
    COMPASS_OFS2_Z -118.0 629.872009
    COMPASS_OFS_X 186.5559 -14.496536
    COMPASS_OFS_Y 132.4279 -30.775366
    COMPASS_OFS_Z 14.00323 -80.543953
    COMPASS_USE2 0.0 1.0
    COMPASS_USE3 0.0 1.0
    FENCE_ALT_MAX 100.3048 300.0
    FENCE_RADIUS 300.0 30.0
    FENCE_TYPE 7.0 0.0
    FLTMODE1 0.0 16.0
    FLTMODE2 2.0 0.0
    FLTMODE3 5.0 2.0
    FLTMODE4 16.0 5.0
    FLTMODE5 6.0 9.0
    FLTMODE6 9.0 3.0
    FS_BATT_ENABLE 0.0 2.0
    FS_BATT_MAH 0.0 1000.0
    FS_BATT_VOLTAGE 21.5 20.0
    FS_GCS_ENABLE 0.0 1.0
    FS_THR_VALUE 953.0 925.0
    GND_ABS_PRESS 98644.45 50426.789062
    GND_TEMP 29.65182 21.657928
    GPS_RATE_MS 100.0 200.0
    GPS_RATE_MS2 100.0 200.0
    INS_ACC2OFFS_X 0.1211732 0.023566
    INS_ACC2OFFS_Y 0.1412403 -0.115673
    INS_ACC2OFFS_Z 1.161324 0.333213
    INS_ACC2SCAL_X 0.9940215 1.003186
    INS_ACC2SCAL_Y 1.037456 1.011122
    INS_ACC2SCAL_Z 1.006155 1.002735
    INS_ACCOFFS_X -0.06592542 0.035213
    INS_ACCOFFS_Y -0.2107863 0.041107
    INS_ACCOFFS_Z -1.217961 0.073906
    INS_ACCSCAL_X 1.001379 1.005022
    INS_ACCSCAL_Y 0.9937667 0.997166
    INS_ACCSCAL_Z 0.9856444 0.988551
    INS_GYR2OFFS_X 0.02354613 -0.112698
    INS_GYR2OFFS_Y 0.02407417 -0.072398
    INS_GYR2OFFS_Z 0.002246874 0.004386
    INS_GYROFFS_X 0.01554655 0.013292
    INS_GYROFFS_Y 0.05836292 0.030274
    INS_GYROFFS_Z 0.002588781 -0.023116
    LGR_SERVO_DEPLOY 1000.0 1250.0
    LGR_SERVO_RTRACT 2000.0 1750.0
    MIS_TOTAL 0.0 2.0
    MNT_RC_IN_PAN 0.0 10.0
    MNT_RC_IN_ROLL 0.0 11.0
    MNT_RC_IN_TILT 0.0 9.0
    MNT_TYPE 0.0 1.0
    MOT_BAT_VOLT_MAX 0.0 25.1
    MOT_BAT_VOLT_MIN 0.0 20.0
    MOT_SPIN_ARM 0.05 0.1
    MOT_SPIN_MIN 0.1 0.15
    MOT_THST_HOVER 0.5 0.125
    RC10_FUNCTION 0.0 6.0
    RC10_MAX 1900.0 2006.0
    RC10_MIN 1100.0 982.0
    RC10_TRIM 874.0 1494.0
    RC11_FUNCTION 0.0 8.0
    RC11_MAX 1900.0 2006.0
    RC11_MIN 1100.0 982.0
    RC11_TRIM 874.0 1494.0
    RC12_FUNCTION 0.0 29.0
    RC12_MAX 1900.0 2006.0
    RC12_MIN 1100.0 982.0
    RC12_TRIM 874.0 1494.0
    RC13_MAX 1900.0 2006.0
    RC13_MIN 1100.0 982.0
    RC13_TRIM 874.0 1494.0
    RC14_MAX 1900.0 2000.0
    RC14_MIN 1100.0 1000.0
    RC14_TRIM 874.0 1500.0
    RC1_TRIM 1494.0 1492.0
    RC2_REV 1.0 -1.0
    RC3_TRIM 1493.0 982.0
    RC4_TRIM 1494.0 1496.0
    RC5_TRIM 982.0 1494.0
    RC6_MAX 2006.0 2000.0
    RC6_MIN 982.0 1000.0
    RC6_TRIM 1484.0 1500.0
    RC7_MAX 2006.0 2000.0
    RC7_MIN 982.0 1000.0
    RC7_TRIM 1490.0 1500.0
    RC8_TRIM 982.0 1494.0
    RC9_FUNCTION 59.0 7.0
    RC9_TRIM 874.0 1494.0
    RC_FEEL_RP 25.0 35.0
    RTL_LOIT_TIME 5000.0 10000.0
    SERIAL4_BAUD 57.0 38.0
    SERIAL4_PROTOCOL 4.0 5.0
    SR0_EXTRA1 4.0 0.0
    SR0_EXTRA2 4.0 0.0
    SR0_EXTRA3 2.0 0.0
    SR0_EXT_STAT 2.0 0.0
    SR0_PARAMS 10.0 0.0
    SR0_POSITION 2.0 0.0
    SR0_RAW_CTRL 2.0 0.0
    SR0_RAW_SENS 2.0 0.0
    SR0_RC_CHAN 2.0 0.0
    SR1_EXTRA1 2.0 4.0
    SR1_EXTRA2 2.0 4.0
    SR1_EXTRA3 0.0 4.0
    SR1_EXT_STAT 0.0 4.0
    SR1_PARAMS 0.0 10.0
    SR1_POSITION 0.0 4.0
    SR1_RAW_CTRL 2.0 4.0
    SR1_RAW_SENS 0.0 4.0
    SR1_RC_CHAN 0.0 4.0
    SR2_EXTRA1 5.0 0.0
    SR2_EXTRA2 10.0 0.0
    SR2_EXTRA3 3.0 0.0
    SR2_EXT_STAT 10.0 0.0
    SR2_POSITION 3.0 0.0
    SR2_RAW_SENS 10.0 0.0
    SR3_EXTRA1 2.0 0.0
    SR3_EXTRA2 2.0 0.0
    SR3_EXTRA3 2.0 0.0
    SR3_EXT_STAT 2.0 0.0
    SR3_POSITION 2.0 0.0
    SR3_RAW_CTRL 2.0 0.0
    SR3_RAW_SENS 2.0 0.0
    SR3_RC_CHAN 2.0 0.0
    view raw differences.txt hosted with ❤ by GitHub
    ACCEL_Z_D 0.000000
    ACCEL_Z_FILT 20.000000
    ACCEL_Z_I 1.080000
    ACCEL_Z_IMAX 800.000000
    ACCEL_Z_P 0.540000
    ACRO_BAL_PITCH 1.000000
    ACRO_BAL_ROLL 1.000000
    ACRO_RP_EXPO 0.300000
    ACRO_RP_P 4.500000
    ACRO_THR_MID 0.000000
    ACRO_TRAINER 2.000000
    ACRO_YAW_P 4.500000
    ACRO_Y_EXPO 0.000000
    ADSB_ENABLE 0.000000
    AHRS_COMP_BETA 0.100000
    AHRS_EKF_TYPE 2.000000
    AHRS_GPS_GAIN 1.000000
    AHRS_GPS_MINSATS 6.000000
    AHRS_GPS_USE 1.000000
    AHRS_ORIENTATION 0.000000
    AHRS_RP_P 0.200000
    AHRS_TRIM_X -0.021521
    AHRS_TRIM_Y 0.017848
    AHRS_TRIM_Z 0.000000
    AHRS_WIND_MAX 0.000000
    AHRS_YAW_P 0.200000
    ANGLE_MAX 4500.000000
    ARMING_CHECK 1.000000
    ATC_ACCEL_P_MAX 34805.000000
    ATC_ACCEL_R_MAX 110000.000000
    ATC_ACCEL_Y_MAX 9374.746094
    ATC_ANGLE_BOOST 1.000000
    ATC_ANG_LIM_TC 1.000000
    ATC_ANG_PIT_P 2.744575
    ATC_ANG_RLL_P 4.500000
    ATC_ANG_YAW_P 5.306485
    ATC_RATE_FF_ENAB 1.000000
    ATC_RAT_PIT_D 0.004356
    ATC_RAT_PIT_FILT 10.000000
    ATC_RAT_PIT_I 0.049057
    ATC_RAT_PIT_IMAX 0.444000
    ATC_RAT_PIT_P 0.049057
    ATC_RAT_RLL_D 0.003600
    ATC_RAT_RLL_FILT 10.000000
    ATC_RAT_RLL_I 0.120000
    ATC_RAT_RLL_IMAX 0.444000
    ATC_RAT_RLL_P 0.120000
    ATC_RAT_YAW_D 0.000000
    ATC_RAT_YAW_FILT 1.189134
    ATC_RAT_YAW_I 0.040387
    ATC_RAT_YAW_IMAX 0.222000
    ATC_RAT_YAW_P 0.403870
    ATC_SLEW_YAW 6000.000000
    ATC_THR_MIX_MAX 0.500000
    ATC_THR_MIX_MIN 0.100000
    AUTOTUNE_AGGR 0.100000
    AUTOTUNE_AXES 1.000000
    AUTOTUNE_MIN_D 0.001000
    AVD_ENABLE 0.000000
    AVOID_ENABLE 3.000000
    BATT2_AMP_OFFSET 0.000000
    BATT2_AMP_PERVOL 17.000000
    BATT2_CAPACITY 3300.000000
    BATT2_CURR_PIN 3.000000
    BATT2_MONITOR 0.000000
    BATT2_VOLT_MULT 10.100000
    BATT2_VOLT_PIN 2.000000
    BATT_AMP_OFFSET 0.000000
    BATT_AMP_PERVOLT 17.000000
    BATT_CAPACITY 5000.000000
    BATT_CURR_PIN 3.000000
    BATT_MONITOR 4.000000
    BATT_VOLT_MULT 10.126000
    BATT_VOLT_PIN 2.000000
    BRD_CAN_ENABLE 0.000000
    BRD_IMU_TARGTEMP -1.000000
    BRD_PWM_COUNT 4.000000
    BRD_SAFETYENABLE 1.000000
    BRD_SAFETY_MASK 0.000000
    BRD_SBUS_OUT 0.000000
    BRD_SER1_RTSCTS 2.000000
    BRD_SER2_RTSCTS 2.000000
    BRD_SERIAL_NUM 0.000000
    BRD_TYPE 2.000000
    BTN_ENABLE 0.000000
    CAM_DURATION 10.000000
    CAM_FEEDBACK_PIN -1.000000
    CAM_FEEDBACK_POL 1.000000
    CAM_MAX_ROLL 0.000000
    CAM_MIN_INTERVAL 0.000000
    CAM_RELAY_ON 1.000000
    CAM_SERVO_OFF 1100.000000
    CAM_SERVO_ON 1300.000000
    CAM_TRIGG_DIST 0.000000
    CAM_TRIGG_TYPE 0.000000
    CH10_OPT 0.000000
    CH11_OPT 0.000000
    CH12_OPT 29.000000
    CH7_OPT 32.000000
    CH8_OPT 13.000000
    CH9_OPT 0.000000
    CHUTE_ENABLED 0.000000
    CIRCLE_RADIUS 1000.000000
    CIRCLE_RATE 20.000000
    CLI_ENABLED 0.000000
    COMPASS_AUTODEC 1.000000
    COMPASS_CAL_FIT 8.000000
    COMPASS_DEC 0.000000
    COMPASS_DEV_ID 73225.000000
    COMPASS_DEV_ID2 131594.000000
    COMPASS_DEV_ID3 0.000000
    COMPASS_DIA2_X 0.903535
    COMPASS_DIA2_Y 0.940987
    COMPASS_DIA2_Z 1.086146
    COMPASS_DIA3_X 0.000000
    COMPASS_DIA3_Y 0.000000
    COMPASS_DIA3_Z 0.000000
    COMPASS_DIA_X 1.027405
    COMPASS_DIA_Y 0.910261
    COMPASS_DIA_Z 1.093531
    COMPASS_EXTERN2 0.000000
    COMPASS_EXTERN3 0.000000
    COMPASS_EXTERNAL 1.000000
    COMPASS_LEARN 0.000000
    COMPASS_MOT2_X 0.000000
    COMPASS_MOT2_Y 0.000000
    COMPASS_MOT2_Z 0.000000
    COMPASS_MOT3_X 0.000000
    COMPASS_MOT3_Y 0.000000
    COMPASS_MOT3_Z 0.000000
    COMPASS_MOTCT 0.000000
    COMPASS_MOT_X 0.000000
    COMPASS_MOT_Y 0.000000
    COMPASS_MOT_Z 0.000000
    COMPASS_ODI2_X -0.080474
    COMPASS_ODI2_Y 0.018165
    COMPASS_ODI2_Z 0.042771
    COMPASS_ODI3_X 0.000000
    COMPASS_ODI3_Y 0.000000
    COMPASS_ODI3_Z 0.000000
    COMPASS_ODI_X -0.014242
    COMPASS_ODI_Y -0.003650
    COMPASS_ODI_Z 0.021820
    COMPASS_OFS2_X -156.119751
    COMPASS_OFS2_Y 246.328552
    COMPASS_OFS2_Z 629.872009
    COMPASS_OFS3_X 0.000000
    COMPASS_OFS3_Y 0.000000
    COMPASS_OFS3_Z 0.000000
    COMPASS_OFS_X -14.496536
    COMPASS_OFS_Y -30.775366
    COMPASS_OFS_Z -80.543953
    COMPASS_ORIENT 0.000000
    COMPASS_ORIENT2 0.000000
    COMPASS_ORIENT3 0.000000
    COMPASS_PRIMARY 0.000000
    COMPASS_USE 1.000000
    COMPASS_USE2 1.000000
    COMPASS_USE3 1.000000
    DEV_OPTIONS 0.000000
    DISARM_DELAY 10.000000
    EK2_ABIAS_P_NSE 0.005000
    EK2_ACC_P_NSE 0.600000
    EK2_ALT_M_NSE 3.000000
    EK2_ALT_SOURCE 0.000000
    EK2_CHECK_SCALE 100.000000
    EK2_EAS_I_GATE 400.000000
    EK2_EAS_M_NSE 1.400000
    EK2_ENABLE 1.000000
    EK2_FLOW_DELAY 10.000000
    EK2_FLOW_I_GATE 300.000000
    EK2_FLOW_M_NSE 0.250000
    EK2_GBIAS_P_NSE 0.000100
    EK2_GLITCH_RAD 25.000000
    EK2_GPS_CHECK 31.000000
    EK2_GPS_DELAY 220.000000
    EK2_GPS_TYPE 0.000000
    EK2_GSCL_P_NSE 0.000500
    EK2_GYRO_P_NSE 0.030000
    EK2_HGT_DELAY 60.000000
    EK2_HGT_I_GATE 500.000000
    EK2_IMU_MASK 3.000000
    EK2_LOG_MASK 1.000000
    EK2_MAGB_P_NSE 0.000100
    EK2_MAGE_P_NSE 0.001000
    EK2_MAG_CAL 3.000000
    EK2_MAG_I_GATE 300.000000
    EK2_MAG_M_NSE 0.050000
    EK2_MAX_FLOW 2.500000
    EK2_NOAID_M_NSE 10.000000
    EK2_POSNE_M_NSE 1.000000
    EK2_POS_I_GATE 500.000000
    EK2_RNG_I_GATE 500.000000
    EK2_RNG_M_NSE 0.500000
    EK2_RNG_USE_HGT -1.000000
    EK2_TAU_OUTPUT 25.000000
    EK2_TERR_GRAD 0.100000
    EK2_VELD_M_NSE 0.700000
    EK2_VELNE_M_NSE 0.500000
    EK2_VEL_I_GATE 500.000000
    EK2_WIND_PSCALE 0.500000
    EK2_WIND_P_NSE 0.100000
    EK2_YAW_I_GATE 300.000000
    EK2_YAW_M_NSE 0.500000
    EKF_ENABLE 0.000000
    EPM_ENABLE 0.000000
    ESC_CALIBRATION 0.000000
    FENCE_ACTION 1.000000
    FENCE_ALT_MAX 300.000000
    FENCE_ENABLE 0.000000
    FENCE_MARGIN 2.000000
    FENCE_RADIUS 30.000000
    FENCE_TOTAL 0.000000
    FENCE_TYPE 0.000000
    FLOW_ENABLE 0.000000
    FLOW_FXSCALER 0.000000
    FLOW_FYSCALER 0.000000
    FLOW_ORIENT_YAW 0.000000
    FLTMODE1 16.000000
    FLTMODE2 0.000000
    FLTMODE3 2.000000
    FLTMODE4 5.000000
    FLTMODE5 9.000000
    FLTMODE6 3.000000
    FRAME 1.000000
    FS_BATT_ENABLE 2.000000
    FS_BATT_MAH 1000.000000
    FS_BATT_VOLTAGE 20.000000
    FS_CRASH_CHECK 1.000000
    FS_EKF_ACTION 1.000000
    FS_EKF_THRESH 0.800000
    FS_GCS_ENABLE 1.000000
    FS_THR_ENABLE 1.000000
    FS_THR_VALUE 925.000000
    GCS_PID_MASK 0.000000
    GND_ABS_PRESS 50426.789062
    GND_ALT_OFFSET 0.000000
    GND_EFFECT_COMP 0.000000
    GND_PRIMARY 0.000000
    GND_TEMP 21.657928
    GPS_AUTO_CONFIG 1.000000
    GPS_AUTO_SWITCH 1.000000
    GPS_GNSS_MODE 0.000000
    GPS_GNSS_MODE2 0.000000
    GPS_HDOP_GOOD 140.000000
    GPS_INJECT_TO 127.000000
    GPS_MIN_DGPS 100.000000
    GPS_MIN_ELEV -100.000000
    GPS_NAVFILTER 8.000000
    GPS_RATE_MS 200.000000
    GPS_RATE_MS2 200.000000
    GPS_RAW_DATA 0.000000
    GPS_SAVE_CFG 0.000000
    GPS_SBAS_MODE 2.000000
    GPS_SBP_LOGMASK -256.000000
    GPS_TYPE 1.000000
    GPS_TYPE2 0.000000
    INS_ACC2OFFS_X 0.023566
    INS_ACC2OFFS_Y -0.115673
    INS_ACC2OFFS_Z 0.333213
    INS_ACC2SCAL_X 1.003186
    INS_ACC2SCAL_Y 1.011122
    INS_ACC2SCAL_Z 1.002735
    INS_ACC3OFFS_X 0.000000
    INS_ACC3OFFS_Y 0.000000
    INS_ACC3OFFS_Z 0.000000
    INS_ACC3SCAL_X 0.000000
    INS_ACC3SCAL_Y 0.000000
    INS_ACC3SCAL_Z 0.000000
    INS_ACCEL_FILTER 20.000000
    INS_ACCOFFS_X 0.035213
    INS_ACCOFFS_Y 0.041107
    INS_ACCOFFS_Z 0.073906
    INS_ACCSCAL_X 1.005022
    INS_ACCSCAL_Y 0.997166
    INS_ACCSCAL_Z 0.988551
    INS_ACC_BODYFIX 2.000000
    INS_GYR2OFFS_X -0.112698
    INS_GYR2OFFS_Y -0.072398
    INS_GYR2OFFS_Z 0.004386
    INS_GYR3OFFS_X 0.000000
    INS_GYR3OFFS_Y 0.000000
    INS_GYR3OFFS_Z 0.000000
    INS_GYROFFS_X 0.013292
    INS_GYROFFS_Y 0.030274
    INS_GYROFFS_Z -0.023116
    INS_GYRO_FILTER 20.000000
    INS_GYR_CAL 1.000000
    INS_PRODUCT_ID 5.000000
    INS_STILL_THRESH 2.500000
    INS_TRIM_OPTION 1.000000
    INS_USE 1.000000
    INS_USE2 1.000000
    INS_USE3 0.000000
    LAND_REPOSITION 1.000000
    LAND_SPEED 50.000000
    LAND_SPEED_HIGH 0.000000
    LGR_SERVO_DEPLOY 1250.000000
    LGR_SERVO_RTRACT 1750.000000
    LOG_BACKEND_TYPE 1.000000
    LOG_BITMASK 176126.000000
    LOG_DISARMED 0.000000
    LOG_FILE_BUFSIZE 16.000000
    LOG_REPLAY 0.000000
    MAG_ENABLE 1.000000
    MIS_RESTART 0.000000
    MIS_TOTAL 2.000000
    MNT_ANGMAX_PAN 4500.000000
    MNT_ANGMAX_ROL 4500.000000
    MNT_ANGMAX_TIL 4500.000000
    MNT_ANGMIN_PAN -4500.000000
    MNT_ANGMIN_ROL -4500.000000
    MNT_ANGMIN_TIL -4500.000000
    MNT_DEFLT_MODE 3.000000
    MNT_JSTICK_SPD 0.000000
    MNT_LEAD_PTCH 0.000000
    MNT_LEAD_RLL 0.000000
    MNT_NEUTRAL_X 0.000000
    MNT_NEUTRAL_Y 0.000000
    MNT_NEUTRAL_Z 0.000000
    MNT_RC_IN_PAN 10.000000
    MNT_RC_IN_ROLL 11.000000
    MNT_RC_IN_TILT 9.000000
    MNT_RETRACT_X 0.000000
    MNT_RETRACT_Y 0.000000
    MNT_RETRACT_Z 0.000000
    MNT_STAB_PAN 0.000000
    MNT_STAB_ROLL 0.000000
    MNT_STAB_TILT 0.000000
    MNT_TYPE 1.000000
    MOT_BAT_CURR_MAX 0.000000
    MOT_BAT_CURR_TC 5.000000
    MOT_BAT_VOLT_MAX 25.100000
    MOT_BAT_VOLT_MIN 20.000000
    MOT_HOVER_LEARN 2.000000
    MOT_PWM_MAX 0.000000
    MOT_PWM_MIN 0.000000
    MOT_PWM_TYPE 0.000000
    MOT_SPIN_ARM 0.100000
    MOT_SPIN_MAX 0.950000
    MOT_SPIN_MIN 0.150000
    MOT_THST_EXPO 0.650000
    MOT_THST_HOVER 0.125000
    MOT_YAW_HEADROOM 200.000000
    NTF_BUZZ_ENABLE 1.000000
    NTF_LED_BRIGHT 3.000000
    NTF_LED_OVERRIDE 0.000000
    PHLD_BRAKE_ANGLE 3000.000000
    PHLD_BRAKE_RATE 8.000000
    PILOT_ACCEL_Z 250.000000
    PILOT_THR_BHV 0.000000
    PILOT_THR_FILT 0.000000
    PILOT_TKOFF_ALT 0.000000
    PILOT_TKOFF_DZ 100.000000
    PILOT_VELZ_MAX 250.000000
    PLND_ENABLED 0.000000
    POS_XY_P 1.000000
    POS_Z_P 1.000000
    PRX_ORIENT 0.000000
    PRX_TYPE 0.000000
    PRX_YAW_CORR 22.000000
    PSC_ACC_XY_FILT 2.000000
    RALLY_INCL_HOME 1.000000
    RALLY_LIMIT_KM 0.300000
    RALLY_TOTAL 0.000000
    RC10_DZ 0.000000
    RC10_FUNCTION 6.000000
    RC10_MAX 2006.000000
    RC10_MIN 982.000000
    RC10_REV 1.000000
    RC10_TRIM 1494.000000
    RC11_DZ 0.000000
    RC11_FUNCTION 8.000000
    RC11_MAX 2006.000000
    RC11_MIN 982.000000
    RC11_REV 1.000000
    RC11_TRIM 1494.000000
    RC12_DZ 0.000000
    RC12_FUNCTION 29.000000
    RC12_MAX 2006.000000
    RC12_MIN 982.000000
    RC12_REV 1.000000
    RC12_TRIM 1494.000000
    RC13_DZ 0.000000
    RC13_FUNCTION 0.000000
    RC13_MAX 2006.000000
    RC13_MIN 982.000000
    RC13_REV 1.000000
    RC13_TRIM 1494.000000
    RC14_DZ 0.000000
    RC14_FUNCTION 0.000000
    RC14_MAX 2000.000000
    RC14_MIN 1000.000000
    RC14_REV 1.000000
    RC14_TRIM 1500.000000
    RC1_DZ 40.000000
    RC1_MAX 2006.000000
    RC1_MIN 982.000000
    RC1_REV 1.000000
    RC1_TRIM 1492.000000
    RC2_DZ 30.000000
    RC2_MAX 2006.000000
    RC2_MIN 982.000000
    RC2_REV -1.000000
    RC2_TRIM 1494.000000
    RC3_DZ 30.000000
    RC3_MAX 2006.000000
    RC3_MIN 982.000000
    RC3_REV 1.000000
    RC3_TRIM 982.000000
    RC4_DZ 30.000000
    RC4_MAX 2006.000000
    RC4_MIN 982.000000
    RC4_REV 1.000000
    RC4_TRIM 1496.000000
    RC5_DZ 0.000000
    RC5_FUNCTION 0.000000
    RC5_MAX 2006.000000
    RC5_MIN 982.000000
    RC5_REV 1.000000
    RC5_TRIM 1494.000000
    RC6_DZ 0.000000
    RC6_FUNCTION 0.000000
    RC6_MAX 2000.000000
    RC6_MIN 1000.000000
    RC6_REV 1.000000
    RC6_TRIM 1500.000000
    RC7_DZ 0.000000
    RC7_FUNCTION 0.000000
    RC7_MAX 2000.000000
    RC7_MIN 1000.000000
    RC7_REV 1.000000
    RC7_TRIM 1500.000000
    RC8_DZ 0.000000
    RC8_FUNCTION 0.000000
    RC8_MAX 2006.000000
    RC8_MIN 982.000000
    RC8_REV 1.000000
    RC8_TRIM 1494.000000
    RC9_DZ 0.000000
    RC9_FUNCTION 7.000000
    RC9_MAX 2006.000000
    RC9_MIN 982.000000
    RC9_REV 1.000000
    RC9_TRIM 1494.000000
    RCMAP_PITCH 2.000000
    RCMAP_ROLL 4.000000
    RCMAP_THROTTLE 3.000000
    RCMAP_YAW 1.000000
    RC_FEEL_RP 35.000000
    RC_SPEED 490.000000
    RELAY_DEFAULT 0.000000
    RELAY_PIN 54.000000
    RELAY_PIN2 55.000000
    RELAY_PIN3 -1.000000
    RELAY_PIN4 -1.000000
    RNGFND2_ADDR 0.000000
    RNGFND2_FUNCTION 0.000000
    RNGFND2_GNDCLEAR 10.000000
    RNGFND2_MAX_CM 700.000000
    RNGFND2_MIN_CM 20.000000
    RNGFND2_OFFSET 0.000000
    RNGFND2_PIN -1.000000
    RNGFND2_RMETRIC 1.000000
    RNGFND2_SCALING 3.000000
    RNGFND2_SETTLE 0.000000
    RNGFND2_STOP_PIN -1.000000
    RNGFND2_TYPE 0.000000
    RNGFND_ADDR 0.000000
    RNGFND_FUNCTION 0.000000
    RNGFND_GAIN 0.800000
    RNGFND_GNDCLEAR 10.000000
    RNGFND_MAX_CM 700.000000
    RNGFND_MIN_CM 20.000000
    RNGFND_OFFSET 0.000000
    RNGFND_PIN -1.000000
    RNGFND_PWRRNG 0.000000
    RNGFND_RMETRIC 1.000000
    RNGFND_SCALING 3.000000
    RNGFND_SETTLE 0.000000
    RNGFND_STOP_PIN -1.000000
    RNGFND_TYPE 0.000000
    RPM2_SCALING 1.000000
    RPM2_TYPE 0.000000
    RPM_MAX 100000.000000
    RPM_MIN 10.000000
    RPM_MIN_QUAL 0.500000
    RPM_SCALING 1.000000
    RPM_TYPE 0.000000
    RSSI_ANA_PIN 0.000000
    RSSI_CHANNEL 0.000000
    RSSI_CHAN_HIGH 2000.000000
    RSSI_CHAN_LOW 1000.000000
    RSSI_PIN_HIGH 5.000000
    RSSI_PIN_LOW 0.000000
    RSSI_TYPE 0.000000
    RTL_ALT 1500.000000
    RTL_ALT_FINAL 0.000000
    RTL_CLIMB_MIN 0.000000
    RTL_CONE_SLOPE 3.000000
    RTL_LOIT_TIME 10000.000000
    RTL_SPEED 0.000000
    SCHED_DEBUG 0.000000
    SCHED_LOOP_RATE 400.000000
    SERIAL0_BAUD 115.000000
    SERIAL0_PROTOCOL 1.000000
    SERIAL1_BAUD 57.000000
    SERIAL1_PROTOCOL 1.000000
    SERIAL2_BAUD 57.000000
    SERIAL2_PROTOCOL 1.000000
    SERIAL3_BAUD 38.000000
    SERIAL3_PROTOCOL 5.000000
    SERIAL4_BAUD 38.000000
    SERIAL4_PROTOCOL 5.000000
    SERIAL5_BAUD 57.000000
    SERIAL5_PROTOCOL -1.000000
    SIMPLE 0.000000
    SPRAY_ENABLE 0.000000
    SR0_ADSB 5.000000
    SR0_EXTRA1 0.000000
    SR0_EXTRA2 0.000000
    SR0_EXTRA3 0.000000
    SR0_EXT_STAT 0.000000
    SR0_PARAMS 0.000000
    SR0_POSITION 0.000000
    SR0_RAW_CTRL 0.000000
    SR0_RAW_SENS 0.000000
    SR0_RC_CHAN 0.000000
    SR1_ADSB 5.000000
    SR1_EXTRA1 4.000000
    SR1_EXTRA2 4.000000
    SR1_EXTRA3 4.000000
    SR1_EXT_STAT 4.000000
    SR1_PARAMS 10.000000
    SR1_POSITION 4.000000
    SR1_RAW_CTRL 4.000000
    SR1_RAW_SENS 4.000000
    SR1_RC_CHAN 4.000000
    SR2_ADSB 5.000000
    SR2_EXTRA1 0.000000
    SR2_EXTRA2 0.000000
    SR2_EXTRA3 0.000000
    SR2_EXT_STAT 0.000000
    SR2_PARAMS 0.000000
    SR2_POSITION 0.000000
    SR2_RAW_CTRL 0.000000
    SR2_RAW_SENS 0.000000
    SR2_RC_CHAN 0.000000
    SR3_ADSB 5.000000
    SR3_EXTRA1 0.000000
    SR3_EXTRA2 0.000000
    SR3_EXTRA3 0.000000
    SR3_EXT_STAT 0.000000
    SR3_PARAMS 0.000000
    SR3_POSITION 0.000000
    SR3_RAW_CTRL 0.000000
    SR3_RAW_SENS 0.000000
    SR3_RC_CHAN 0.000000
    SUPER_SIMPLE 0.000000
    SYSID_ENFORCE 0.000000
    SYSID_MYGCS 255.000000
    SYSID_SW_MREV 120.000000
    SYSID_SW_TYPE 10.000000
    SYSID_THISMAV 1.000000
    TELEM_DELAY 0.000000
    TERRAIN_ENABLE 1.000000
    TERRAIN_FOLLOW 0.000000
    TERRAIN_SPACING 100.000000
    THROW_MOT_START 0.000000
    THROW_NEXTMODE 18.000000
    THROW_TYPE 0.000000
    THR_DZ 100.000000
    TUNE 0.000000
    TUNE_HIGH 1000.000000
    TUNE_LOW 0.000000
    VEL_XY_FILT_HZ 5.000000
    VEL_XY_I 0.500000
    VEL_XY_IMAX 1000.000000
    VEL_XY_P 1.000000
    VEL_Z_P 5.000000
    WPNAV_ACCEL 100.000000
    WPNAV_ACCEL_Z 100.000000
    WPNAV_LOIT_JERK 1000.000000
    WPNAV_LOIT_MAXA 250.000000
    WPNAV_LOIT_MINA 25.000000
    WPNAV_LOIT_SPEED 500.000000
    WPNAV_RADIUS 200.000000
    WPNAV_RFND_USE 1.000000
    WPNAV_SPEED 500.000000
    WPNAV_SPEED_DN 150.000000
    WPNAV_SPEED_UP 250.000000
    WP_NAVALT_MIN 0.000000
    WP_YAW_BEHAVIOR 2.000000
    view raw mav.parm hosted with ❤ by GitHub
  • RC3_TRIM should be = RC3_MIN

    not sure if that's the whole problem - but try that first.

  • Not sure what props you have, but it looks like a 6s battery.  Maybe too many volts for the pitch / motors?  Did you check the config on ecalc?



  • Andre K. said:
    Did you even do the ESC calibration of the new ESCs ?

    yes that is the first thing i did
    Finally airborne but still issues
    Hey guys, so after 9 months I finally got my large quad in the air. I changed ESC's from afro 30a to Hobbywing 40a. I went 40a just because. Anyway,…
  • Did you even do the ESC calibration of the new ESCs ?
This reply was deleted.

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