Hello there,
I am excited to announced that i've build my first ArduCopter. But i am twice much upset to let you know that it needs a Doctor. :) LOL
Successfully, i updated the APM2 with the ArduCopter 2.7. However, i am have lot of issues with the quad. I know that Quad is not gonna be as still as the log,(for now) of course. But It seems like Quad wants to just flip over. When i give throttle (Around 1/3) and let go my hand, it slowly increases the throttle by itself and tries to tilt forward. Sometime it also tried to spin to the left. I am not sure if i have to adjust the Yaw PID or something.
I checked couple of times, but I couldn't see any loose connection. Motors are fit tightly to the arms. Battery has juice. I am not sure whats wrong with the quad.
I have attached the Parameter file to this post. I am not sure how to get the log file. If it necessary to troubleshoot this issue. Please let me know how and from where i can get the log file. I will be happy to provide all the necessary information. Thank you in Adv.
Quad Specs:
X Setup
APM2 with ArduCopter 2.7
HackerStyle Outrunner 20-22L Motors
Turnigy TY-P1 25Amp HEXFET Brushless ESCs
FlightMax 4000mAh 20C 3Cell 11.1V Battery
G450 Integrated PCB frame
Replies
I just wanted to put a thumbs up in this thread. My quad also oscillated and flipped the yaw was good but I too have used a faster motor and will ajust my PID settings this evening and give it a go. I am using the 3dr radios so tuning should go rather quickly. Take off observe, adjust, rinse repeat.
I have attached a zip file which contains all logs files. Hope these files help to search out if there is some bugs in the code (ArduCopter Software) or something else.
I am still trying to make modifications to the quad. I am trying to move all the wire as far as i can so that their magnetic field won't interfere with the APM.
Logs Files.rar
Hi everyone,
Sorry i took little longer to reply. I wanted to reply with the video link so everyone can see the improvement by tweaking around the Rate Roll P value (By default Rate Roll P & Rate Pitch P values are locked. So if you change Roll P value, Pitch P value changes by automatically. Rate Roll P = Rate Pitch P). And believe it or not i am pretty happy with the results (But still there are few minor problems). :)
Here is the link: Video
Few quick questions.
1). Why do all my motors heat up so quickly? As you can see in the video i hardly flew for two mins but during that time all motors got very hot. I am not sure why. Does anyone have the same issue with their motors(Specially, hackerStyle 20-22L)? I would like your suggestions to keep them cool.
2). Why my quad always go straight (Forward direction) when i take off? As soon as i give little throttle it just takes off and goes in the forward direction. Is there any parameter i have to change?
Thank you so much for all your help.
Cheers,
Kur
@Vernon, You mentioned about the in-flight tuning with CH6. If you don't mind, Would you please tell me how do i do that?
{Again, i am using Spektrum DX7 with AR7000. I have connected 6 channels to the APM2. But i am not using Channel 5 and Channel 6. Channel #5 is labeled as Gear on the RX and Channel #6 as AUX1).
@Randy. Yes, i have calibrated my ESCs couple of times now. But i will re-calibrate them tomorrow (shouldn't hurt).
Sorry, but I am little confused here. I am not sure what do you mean, when you say reduce your pitch rate values!? I mean i know where can i find pitch rate values. I am just not sure which one should i reduce. P value, I value, D value or IMAX value? It would be good if you can tell me particular values. I am going to attach a screenshot of all my ArduCopter Config below.
@Vernon. I am using HackerStyle 20-22L with 10*4.5 props and flightmax 4000mAh 20C 3Cell 11.1V battery.
Thank you so much for that link. I have to read the whole wiki really carefully. Its very informative. As you mentioned that, the default value for the Rate Roll P is 0.14. And it should be reduced if you are using bigger rpm motor or bigger prop or both. Currently on my quad, the default value for the rate roll P is 0.18. I think, that's one of the issue. Since i am using higher rpm motor (924rpm). The value of Rate roll P should be lower than 0.14 (Standard for 850rpm motor)?
And also i wanna ask about the IMAX throttle rate. Currently, i have it as 180. Does it look good or kinda high? Please let me know. Thank you so much for your help.
After re-calibrating and setting up the mag. dec. I gave it a shot and tested it out.
Here is the video: https://www.youtube.com/watch?v=VhCOb7mFZos
Yes, i am in stabilize mode. I am not sure in which mode my ESCs are. And they didn't come with any kind of instruction or manual. I have to find out the default start mode of these ESCS.
Sure fire indication you probably have the motor order wrong and are you 100% sure you followed the initial setup with hitting the level button and set the mag declination?
Step 1 take off your props!
Step 2 attempt this test:
https://www.youtube.com/watch?v=YfjnIX78oSY
The number one failure causing a flip is the motors are not connected to the correct output. When this happens, the machine initially detects a slight tilt and tries to correct, but since the motors are on the wrong outputs it actually feeds back more tilt or error until it just flips. It's an easy mistake.
Again, this is the APM output to your ESCs. Because you have to wire the Power distro board and then plug in the motors, it's easy to get it wrong. That said, My test lets you figure out which motor does speed up and then just move that ESC signal wire to the correct "low" arm. A little trial and error and you will have it in less than a few minutes. (being a quad, there are only so many wrong combos).
What's not in that video is the next test for cyclic (AKA right stick on your TX) Same concept but just keep the quad level on the ground, spin up the motors to low idle and move the right stick in each direction. Note in this case, the opposite motor spins faster and the other motor might stop. Stick forward equals back motor (in +) or both back motors in X speed up. This way the front would tilt down and the aircraft would move forward. On real helis, the entire disk disk folows the same tilt motion. (same for left and right which are also backwards). By doing this test with the props off, you will have a good first flight and not crash before you get off the ground.