Discussions

Hi there

I've a very strange problem with my pixhawk / arducopter 3.1.5 controlled copter. I've a very good response of the copter in stab mode. Fast on every axis but in loiter, descending is nearly impossible. I have a good stable loiter with throttle on mid. It slowly ascends if I move the throttle over mid, but it does not descend if I move it below mid. It starts slowly descending when the throttle stick is so low that its nearly one or to ticks to it's min. So I have to switch to stab mode if I like to descent fast what makes it tricky if you have your copter on a higher altitude. Any ideas?

My Copter:

• DJI F450
• DJI E300
• Pixhawk 3.1.5
• 3S 5A LiPo
• Gimbal with GoPro
• 1.6kg

Any Ideas?

Greets from Switzerland

Marcel

My Config:

ACRO_BAL_PITCH,1.00000000
ACRO_BAL_ROLL,1.00000000
ACRO_RP_P,4.50000000
ACRO_TRAINER,2
ACRO_YAW_P,4.50000000
AHRS_COMP_BETA,0.10000000
AHRS_GPS_DELAY,1
AHRS_GPS_GAIN,1.00000000
AHRS_GPS_MINSATS,6
AHRS_GPS_USE,1
AHRS_ORIENTATION,0
AHRS_RP_P,0.10000000
AHRS_TRIM_X,0.01553781
AHRS_TRIM_Y,0.05651375
AHRS_TRIM_Z,0.00000000
AHRS_WIND_MAX,0
AHRS_YAW_P,0.10000000
ANGLE_MAX,4500
ANGLE_RATE_MAX,18000
ARMING_CHECK,1
BATT_AMP_OFFSET,0.00000000
BATT_AMP_PERVOLT,17.00000000
BATT_CAPACITY,3300
BATT_CURR_PIN,3
BATT_MONITOR,4
BATT_VOLT_MULT,10.00000000
BATT_VOLT_PIN,2
BRD_PWM_COUNT,4
CAM_DURATION,10
CAM_SERVO_OFF,1100
CAM_SERVO_ON,1300
CAM_TRIGG_DIST,0.00000000
CAM_TRIGG_TYPE,0
CH7_OPT,17
CH8_OPT,13
CIRCLE_RADIUS,10
CIRCLE_RATE,20.00000000
COMPASS_AUTODEC,1
COMPASS_DEC,0.00000000
COMPASS_EXTERNAL,1
COMPASS_LEARN,0
COMPASS_MOT2_X,0.00000000
COMPASS_MOT2_Y,0.00000000
COMPASS_MOT2_Z,0.00000000
COMPASS_MOTCT,0
COMPASS_MOT_X,0.00000000
COMPASS_MOT_Y,0.00000000
COMPASS_MOT_Z,0.00000000
COMPASS_OFS2_X,0.00000000
COMPASS_OFS2_Y,0.00000000
COMPASS_OFS2_Z,0.00000000
COMPASS_OFS_X,-87.48595428
COMPASS_OFS_Y,35.98565674
COMPASS_OFS_Z,129.29922485
COMPASS_ORIENT,0
COMPASS_USE,1
ESC,0
FENCE_ACTION,1
FENCE_ALT_MAX,100.00000000
FENCE_ENABLE,0
FENCE_MARGIN,2.00000000
FENCE_RADIUS,150.00000000
FENCE_TYPE,3
FLOW_ENABLE,0
FLTMODE1,0
FLTMODE2,0
FLTMODE3,0
FLTMODE4,2
FLTMODE5,0
FLTMODE6,5
FRAME,1
FS_BATT_ENABLE,0
FS_BATT_MAH,0.00000000
FS_BATT_VOLTAGE,10.50000000
FS_GCS_ENABLE,0
FS_GPS_ENABLE,1
FS_THR_ENABLE,1
FS_THR_VALUE,960
GND_ABS_PRESS,96109.04687500
GND_ALT_OFFSET,0
GND_TEMP,24.66449356
GPSGLITCH_ACCEL,1000.00000000
GPSGLITCH_ENABLE,1
GPSGLITCH_RADIUS,200.00000000
GPS_HDOP_GOOD,200
HLD_LAT_I,0.00000000
HLD_LAT_IMAX,0
HLD_LAT_P,1.00000000
HLD_LON_I,0.00000000
HLD_LON_IMAX,0
HLD_LON_P,1.00000000
INAV_TC_XY,2.50000000
INAV_TC_Z,5.00000000
INS_ACC2OFFS_X,1.16539025
INS_ACC2OFFS_Y,1.16554689
INS_ACC2OFFS_Z,1.24983895
INS_ACC2SCAL_X,1.04230845
INS_ACC2SCAL_Y,0.99959815
INS_ACC2SCAL_Z,1.03711867
INS_ACCOFFS_X,-0.24775743
INS_ACCOFFS_Y,-0.25777203
INS_ACCOFFS_Z,-0.19686876
INS_ACCSCAL_X,0.99827588
INS_ACCSCAL_Y,1.00060034
INS_ACCSCAL_Z,0.99067920
INS_GYR2OFFS_X,0.03723121
INS_GYR2OFFS_Y,-0.02148561
INS_GYR2OFFS_Z,-0.01790022
INS_GYROFFS_X,-0.02252685
INS_GYROFFS_Y,-0.01716013
INS_GYROFFS_Z,-0.13166827
INS_MPU6K_FILTER,0
INS_PRODUCT_ID,5
LAND_SPEED,50
LOG_BITMASK,-22530
LOITER_LAT_D,0.00000000
LOITER_LAT_I,0.50000000
LOITER_LAT_IMAX,400
LOITER_LAT_P,1.00000000
LOITER_LON_D,0.00000000
LOITER_LON_I,0.50000000
LOITER_LON_IMAX,400
LOITER_LON_P,1.00000000
MAG_ENABLE,1
MNT_ANGMAX_PAN,4500
MNT_ANGMAX_ROL,4500
MNT_ANGMAX_TIL,0
MNT_ANGMIN_PAN,-4500
MNT_ANGMIN_ROL,-4500
MNT_ANGMIN_TIL,-9000
MNT_CONTROL_X,0.00000000
MNT_CONTROL_Y,0.00000000
MNT_CONTROL_Z,0.00000000
MNT_JSTICK_SPD,0
MNT_MODE,3
MNT_NEUTRAL_X,0.00000000
MNT_NEUTRAL_Y,0.00000000
MNT_NEUTRAL_Z,0.00000000
MNT_RC_IN_PAN,0
MNT_RC_IN_ROLL,0
MNT_RC_IN_TILT,6
MNT_RETRACT_X,0.00000000
MNT_RETRACT_Y,0.00000000
MNT_RETRACT_Z,0.00000000
MNT_STAB_PAN,0
MNT_STAB_ROLL,0
MNT_STAB_TILT,0
MOT_SPIN_ARMED,70
MOT_TCRV_ENABLE,1
MOT_TCRV_MAXPCT,93
MOT_TCRV_MIDPCT,52
OF_PIT_D,0.12000000
OF_PIT_I,0.50000000
OF_PIT_IMAX,100
OF_PIT_P,2.50000000
OF_RLL_D,0.12000000
OF_RLL_I,0.50000000
OF_RLL_IMAX,100
OF_RLL_P,2.50000000
PILOT_VELZ_MAX,250
RATE_PIT_D,0.00800000
RATE_PIT_I,0.13499998
RATE_PIT_IMAX,500
RATE_PIT_P,0.13499998
RATE_RLL_D,0.00450000
RATE_RLL_I,0.09499998
RATE_RLL_IMAX,500
RATE_RLL_P,0.09499998
RATE_YAW_D,0.00000000
RATE_YAW_I,0.02000000
RATE_YAW_IMAX,800
RATE_YAW_P,0.20000000
RC10_DZ,0
RC10_FUNCTION,0
RC10_MAX,1520
RC10_MIN,1000
RC10_REV,0
RC10_TRIM,1500
RC11_DZ,0
RC11_FUNCTION,0
RC11_MAX,1900
RC11_MIN,1100
RC11_REV,1
RC11_TRIM,1500
RC12_DZ,0
RC12_FUNCTION,0
RC12_MAX,1900
RC12_MIN,1100
RC12_REV,1
RC12_TRIM,1500
RC1_DZ,30
RC1_MAX,2006
RC1_MIN,982
RC1_REV,1
RC1_TRIM,1500
RC2_DZ,30
RC2_MAX,2006
RC2_MIN,982
RC2_REV,1
RC2_TRIM,1500
RC3_DZ,30
RC3_MAX,2006
RC3_MIN,982
RC3_REV,1
RC3_TRIM,1500
RC4_DZ,40
RC4_MAX,2006
RC4_MIN,982
RC4_REV,1
RC4_TRIM,1500
RC5_DZ,0
RC5_FUNCTION,0
RC5_MAX,2006
RC5_MIN,982
RC5_REV,1
RC5_TRIM,1500
RC6_DZ,0
RC6_FUNCTION,0
RC6_MAX,1903
RC6_MIN,1085
RC6_REV,0
RC6_TRIM,1500
RC7_DZ,0
RC7_FUNCTION,0
RC7_MAX,2006
RC7_MIN,982
RC7_REV,1
RC7_TRIM,1500
RC8_DZ,0
RC8_FUNCTION,0
RC8_MAX,2006
RC8_MIN,982
RC8_REV,1
RC8_TRIM,1500
RC9_DZ,0
RC9_FUNCTION,7
RC9_MAX,1520
RC9_MIN,1000
RC9_REV,0
RC9_TRIM,1500
RCMAP_PITCH,2
RCMAP_ROLL,1
RCMAP_THROTTLE,3
RCMAP_YAW,4
RC_FEEL_RP,100
RC_SPEED,400
RELAY_PIN,54
RELAY_PIN2,-1
RELAY_PIN3,-1
RELAY_PIN4,-1
RSSI_PIN,-1
RSSI_RANGE,5.00000000
RTL_ALT,5000
RTL_ALT_FINAL,0
RTL_LOIT_TIME,5000
SCHED_DEBUG,0
SERIAL1_BAUD,57
SERIAL2_BAUD,57
SIMPLE,0
SONAR_ENABLE,0
SONAR_GAIN,0.80000001
SONAR_TYPE,0
SR0_EXTRA1,2
SR0_EXTRA2,2
SR0_EXTRA3,2
SR0_EXT_STAT,2
SR0_PARAMS,10
SR0_POSITION,2
SR0_RAW_CTRL,2
SR0_RAW_SENS,2
SR0_RC_CHAN,2
SR1_EXTRA1,2
SR1_EXTRA2,2
SR1_EXTRA3,2
SR1_EXT_STAT,2
SR1_PARAMS,0
SR1_POSITION,2
SR1_RAW_CTRL,2
SR1_RAW_SENS,2
SR1_RC_CHAN,2
SR2_EXTRA1,5
SR2_EXTRA2,2
SR2_EXTRA3,0
SR2_EXT_STAT,2
SR2_PARAMS,0
SR2_POSITION,2
SR2_RAW_CTRL,0
SR2_RAW_SENS,2
SR2_RC_CHAN,5
STB_PIT_I,0.00000000
STB_PIT_IMAX,0
STB_PIT_P,8.81250000
STB_RLL_I,0.00000000
STB_RLL_IMAX,0
STB_RLL_P,8.81250000
STB_YAW_I,0.00000000
STB_YAW_IMAX,0
STB_YAW_P,4.50000000
SUPER_SIMPLE,0
SYSID_MYGCS,255
SYSID_SW_MREV,120
SYSID_SW_TYPE,10
SYSID_THISMAV,1
TELEM_DELAY,0
THR_ACCEL_D,0.00000000
THR_ACCEL_I,1.50000000
THR_ACCEL_IMAX,500
THR_ACCEL_P,0.75000000
THR_ALT_I,0.00000000
THR_ALT_IMAX,300
THR_ALT_P,1.00000000
THR_MAX,1000
THR_MID,660
THR_MIN,200
THR_RATE_D,0.00000000
THR_RATE_I,0.00000000
THR_RATE_IMAX,300
THR_RATE_P,6.00000000
TRIM_THROTTLE,801
TUNE,0
TUNE_HIGH,1000
TUNE_LOW,0
WPNAV_ACCEL,100.00000000
WPNAV_LOIT_SPEED,500.00000000
WPNAV_RADIUS,200.00000000
WPNAV_SPEED,500.00000000
WPNAV_SPEED_DN,150.00000000
WPNAV_SPEED_UP,250.00000000
WP_INDEX,0
WP_TOTAL,5
WP_YAW_BEHAVIOR,2