Ok so on to the most recent problem I'm having getting this "Ready To Fly" Y6B we got 4 days ago to actually fly: When I put the transmitter (Dx7s included/pre-programmed by 3DR in the kit) into Loiter Mode, the Y6 will not arm the motors. (They manual implies that this should be possible.) I have GPS lock/green flashing primary LED.
If I put the Tx in "Stabilize" mode, (as in "Stabilize it yourself" since the controller is basically off in this mode?) I can spin up the motors, and throttle application is buttery smooth. I have managed to lift off the ground in this mode, although I'd prefer to have a little more Stability in my first flight with this $2000 machine, so I'm not getting more than a foot up for testing, then right back down.
If I start up the motors in Stabilize mode, and switch over to Loiter mode while still on the ground "idling", moving the throttle up does not have any effect on the aircraft until you get about 1/3 the way up, then SUDDENLY one/some/all of the motors jumps up to speed unevenly, trying to tip the craft over, and throttling DOWN does not stop the increasing application of power to the motors. I have to flip the Flap/Gyro switch back up into Stabilize mode to get the motors to wind down and respond to throttle normally again.
I have verified that the Tx is sending the proper Mode commands to the Pixhawk in software when the flap/gyro and gear/mix switches are in the default positions indicated in the manual. I have updated the firmware in the Pixhawk controller to the latest version using APM Mission Planner 2.
As you can see, I really try to cover every base I can think of to solve these problems on my own and not bother you guys, but I really just want to be able to fly my Y6 before I grow a beard. :P
Replies
See copter.ardupilot.com/wiki/loiter-mode/ for Loiter and more info on other flight mode characteristics are here http://copter.ardupilot.com/wiki/table-of-contents/
Also, just trying to lift of too slowly is impacted by 'ground effect'. Best to take off with some authority.
Do you have any ground control software connected to your Y6 (via radio telemetry) when arming? It should tell you why you cannot arm in loiter.
Typically in any mode that requires GPS it will complaining about GPS accuracy - a basic GPS lock is not good enough - by default the HDOP value (GPS accurancy/confidence) has to be below 2 which can typically take a few minutes for your first flight of the day- the GCS should be able to display that for you.
I've never tried taking off in Loiter but in that mode the throttle stick will simply be changing the target altitude and the Y6 will do whatever it thinks it has to to get there. I'd recommend taking off in Stabilise and then loitering once your a couple of meters up.
Continuing from thread below that dead-ended...
Ok I see the voltage warning threshold in Settings...it's set to 9.5v, so that should be plenty...in fact, I probably need to set that higher actually...
Thank you for the help Brendan. I do have the hardware for ground control telemetry, but I have not used it yet. I will give that a shot and see what it is saying.
I have let it set for 5-10 minutes though with GPS "lock" with no change in Loiter responses, although it was really cloudy today.
The thought of taking off in Stabilize and switching to Loiter mid-air when it's acting like this makes me shutter just imagining the possible outcome. I think I'll give all other possible solutions a try first, and make this a last resort. ;)
No worries, and good luck. Try to train yourself that your first "panic reaction" is to switch back to Stabilise if the "auto" modes do anything unexpected. It sounds like you've already got that instinct which is great.
It keeps dumping my replies...testing...
Problem Solved
I went outside just now and let it work on GPS for several minutes (clear skies) and used the Android app Airdroid to monitor telemetry. I wasn't able to find that HDOP reading with this app, but I was able to try and Arm the motors with the app, and it said something about lack of GPS at first. A few seconds later I tried again and it spun them up from Loiter mode successfully. That first liftoff was sketchy, as you say the throttle is more of a linear controller for altitude, but at least this time it didn't try to tip over on take off and hopped right up off the ground level.
I realize you never know a person's background at first in situations like this, but yeah I'm used to flipping to manual mode coming from a Blade 350qx. I'm 42 y.o., had about 10 helis, although the Blade was my first quad. I'm not a big stunt flyer, more into photography and video, so the stability of multirotors is a beautiful thing. ;)
Thanks again for the help, and hopefully this will benefit someone else some day who's having the same issues.
Good new
Hmm, I just cut off too. I was going to recommend Andropilot (which I use) and DroidPlanner.
It was Andropilot, got the name wrong. And I also have Droid Planner and Droid Planner 2.
Oddly, while I was using that Andropilot for the first time, the Speech/voice/lady kept saying something I couldn't quite make out...almost like "Warn Volt". The battery was near fully charged, the Tx has plenty of charge, and the Android is charged above 90%. I'm not sure what she was on about if that's actually what she was saying.
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