Hello, i just made my first tricopter an apm 2.5. Made an aluminium frame for testing and learning, but in first test i found a problem, when i start give some throtle to go up, it starts to go backwards... i tested holding it with my hand, that it would not run away. It was calibrated just before flight and i tested it in "Stabilize" mode. What could it be?
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If you use an I term in any of the stabilization Rate controllers. They will ramp up and cause a flip if you are hand holding the quad. Yaw has a rate_I that's non-zero by default so you may see some issues there.
Try setting all of these to 0, and then do a hand test. Also make sure your frame is a TRI in the software.
Jason