Help with Pixhawk configs

So I am at the end of my rope. I cannot get my quad to be even the most basic stabilized.  In no wind it drifts all over roll, pitch, yaw.  I have calibrated the compass, accelerometer, radio…everything.  Ran compass mot several times to make sure interference is less than 30%.  I have run auto tune several times to tune the PIDs.  The only thing that works ok is altitude hold, but stabilize and loiter are a disaster causing a couple of dozen crashes.  I must have something in my configs that is way off but I can't find it.  Any help would be appreciated.

DJI Flame Wheel 550

Pixhawk 

External GPS on mast

Ardcopter V3.1.5

8 45 blades

30C 2800 LiPos

Sample log file, have tons just like this

2014-07-17%2016-34-47.log

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  • So I replaced the GPS module in case I had some form of hardware issue but I still see the same issues.  Yaw drift and crazy flyways when in loiter mode.  The quad can't stay in loiter mode for more than a minute or so before starting to fly away fast.  Looking at the logs, there is always 7+ satellites and an acceptable HDOP.  There is nothing in the data that correlates with when the rig starts to fly away.  The GPS module is on a 9cm mast.

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