Pixhawk hexacopter Toilet Bowl crash

I have been having a serious problem with my large . It appears to do the toilet bowling effect.

But cannot be sure. the drone did fly ok about 2 months ago.

We changed added some components (which were all not power during this test) and even reduced the weight . 

I was under the impression that was due to compass. Today I was in AltHold (supposed to use only barometer and accelerometer) mode yet got a serious toilet bowling and crash.

I added a shielding material (which is about 4 cm away from the board, just above the plate the ESCs are laid. Could this be the issue? As 2 months ago when it flew ok, it did not have shielding.

here is a video

https://www.youtube.com/watch?v=YSPWS525z5w

<iframe width="560" height="315" src="https://www.youtube.com/embed/YSPWS525z5w" frameborder="0" allowfullscreen></iframe>

I have also attached the log data.

Please need help in diagnosing this issue!  Its doing my head in.

2017-01-24 14-15-12.tlog

2017-01-24 14-15-12.rlog

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  • Removed the Pixhawk on that drone today and put in on a small quadcopter and updated the firmware to a quadcopter. 

    Calibrated the accelerometer, compass and radio. 

    The quadcopter flew just fine.

    Also on auto-analyzing the file, via mission planner

    Below is the result.

    Log File d:\Temp\tmpA1D9.tmp.log
    Size (kb) 910.0595703125
    No of lines 11519
    Duration 0:16:41
    Vehicletype ArduCopter
    Firmware Version V3.4.4
    Firmware Hash 8a196281
    Hardware Type
    Free Mem 0
    Skipped Lines 0

    Test: Autotune = NA -
    Test: Brownout = GOOD -
    Test: Compass = WARN - WARN: Large compass offset params (X:-230.00, Y:257.00, Z:-121.00)
    WARN: Large compass offset in MAG data (X:-230.00, Y:257.00, Z:-121.00)
    mag_field interference within limits (2.91%)

    Test: Dupe Log Data = GOOD -
    Test: Empty = FAIL - Empty log? Throttle never above 20%
    Test: Event/Failsafe = GOOD -
    Test: GPS = WARN - Min satellites: 5, Max HDop: 3.41
    Test: IMU Mismatch = GOOD - (Mismatch: 0.22, WARN: 0.75, FAIL: 1.50)
    Test: Motor Balance = GOOD - Motor channel averages = [1049, 1049, 1049, 1049, 1049, 1049]
    Average motor output = 1049
    Difference between min and max motor averages = 0
    Test: Parameters = GOOD -
    Test: PM = NA -
    Test: Pitch/Roll = NA -
    Test: Thrust = NA -
    Test: VCC = UNKNOWN - No CURR log data

    Need some help interpreting it.

  • YouTube
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