I posted this problem on RCGROUPS but on further investigation I a think my problem is in some setup I missed in mission planner.
I have a new X6 based on Pixhawk. The salient features are:
- Tarot 5008 motors
- 1855 CF props
- Multi-pal 40A OPTO ESC
I was getting a Motor imbalance warning in flight that appeared to be getting worse.
Test: Motor Balance = FAIL - Motor channel averages = [1380, 1586, 1353, 1580, 1371, 1598]
Average motor output = 1478
Difference between min and max motor averages = 245
Following a suggestion I tested the setup in the lab. No motors, ARM, spin up for a bit and then checked the logs.
I found an RCOUT mismatch. I re-calibrated the ESCs using all 3 methods in the Wicki and tested each time. I got different but not better results.
My channel 3 RCIN is well behaved and looks as it should but the 6 RCOUTS are all different by quite a bit.
Since this is "static" i.e. not flying am I right in thinking that the Pixahwk has no feedback from the ESC and motors and is open loop. Should it not just send RCOUT that equals RCIN?
ESC callibration spins the motor based on RCOUT and calibration but I am not measuring motor speed just Pixhawk output.
This bird flies OK but I think pixhawk is making all the adjustments
As usual, I assume I missed something fundamental. The attached graph is from a lab test with no props.