Hello. I have assembled an arducopter. The specifications are given below.
jdrones default frame (with foams attached under arms)
Configuration: Quad X
The frame was assembled as per the wiki. The ESCs have been calibrated as per the wiki. Props were attached properly and balanced. The accelorometer calibration were also carried out as per the wiki.
The modification that was carried out was just the attachment of foams under arms. Since i was new to the flying, so i wanted to save the arducopter from crashes which i experienced initially. The 4 foams have a total weight of 126 grams.
The pid parameters were adjusted to counter for the heavy motors and sensitive controls. Rate_p and Stab_p were changed. The parameters file is attached.
The arducopter has a tendency to move away from its position after take off. I only alter the throttle input and after it rises to some height it moves away from the point from where it was taken off. May be wind should be considered but that was not enough to move it from the center of a football size ground to almost its end in stabillize mode.
The arducopter also has a tendency to lose altitude sometimes. After it has been taken to a certain height in stabilize mode, the copter loses altitude without any throttle. Though it should have been put in ALT HOLD mode for this purpose, but even in stabillize mode it should not lose altitude of 6-10 meters. Once i took it to about 10m, it was in stabilize mode and after some time it started losing altitude to an extent that when it was about to land i cut the throttle and made it land.
Another major problem that i am experiencing is that it flips over without any other input other than throttle. It happened once in ALT HOLD mode (crash 1, video and tlog file attached below) and two times in stabilze mode (crash 2 and 3, video for both and tlog file for crash 3 attached below.)
Sorry. Don't have a log file for crash 2