Hey all, been looking at these forums in building my quads for a few years now, very useful and great developments.
Just wanted to share and possibly get some light shone on one of the issues I'm having currently.
First some stats on my current quad which has gone from a mainly Jdrones copter to a mainly DJI copter:
DJI 450 Flamewheel frame (loving the in built power distribution)
DJI 2212/920KV Motors
DJI 30A Opto ESC with Castle 10A BEC
Stock DJI 10inch props.
APM 2.0 with AC3.1
Sonar (turned off in this last flight)
5000mAh 3S LiPo
Background:
Got the quad flying nicely on the beta (last beta release) before 3.1 was released, then switched over to that. Did the entire setup again, including calibrations and compassmot, nice low interference (helped by a layer of mu-metal below the foam holding the APM). Had an ok flight or two including loiter, alt hold, auto, circle and RTL all working well using the previous autotune PIDs from the beta. Then suddenly started drifting in loiter, 45 degrees to the back right everytime. So I did the setup again, thinking maybe something wasn't actually still calibrated correctly. Now this time I autotune again on the first flight. It went through the entire process very well and looked like it was doing ok, went through the saving process and landed, rearmed flew again and it was really really sloppy. So I looked at the PIDs and the rates were extremely low and stab P was pretty low as well. Then I reset the PIDs back to default and went and ran the autotune again, exactly the same thing happened with a slightly higher stab P but really low rates as seen in the image below:
I've attached the logs from this autotune flight, so perhaps someone can have a look if there is enough info to see what happened or what is wrong with the loiter which is in there a few times I think before I autotuned, doesn't appear to be a GPS glitch, and the vibrations although higher than I'd like should be causing this big an error, (when it was loitering and waypointing well in 3.0.1 it had higher vibrations).
Well for now, I'm going to try tuning the old way with ch6 and might revert to 3.0.1, but hopefully someone can point out why autotune isn't working for me? (and a bonus would be my loiter issue).
Cheers all!
Replies
Hi Pete
I have a similar setup as you. i looked at your logs and i see a lot of movement on your HDOP and GPS Number if satellites. i am currently getting interference on my GPS from a FPV TX, but i wonder if you dont have similar interference during auto tune? i am only mentioning it because that is what i am dealing with at the moment. are you sure the sonar is off? Randy had put out a video at one point that showed interference from a sonar device. hope that is helpful in some way.