We made a Quadcopter of 15kgs with propulsion system of T-motor antigravity MN8014 100kv with T-motor fame 80A V2.0 ESC and T-motor G 30*10.5 inch propeller and 22000mAh 12S li-ion battery.
Initially, we calibrated the Pixhawk’s IMU temperature and conducted a test flight.We
autotuned our airplane after adjusting
the notch filter and motor thrust scaling.
We repeatedly experimented with several adjustments in Autotune, such as0.05,0.075, and0.1, however each time the pitch axis was set too jerkily, the roll axis was always correctly tuned. Assuming that the damper was the source of the issue, we changed the damper to minimize it, but the outcome remained the same—roll autotunes, but pitch doesn’t. At that point, we made the decision to manually adjust the pitch axis. After doing so, our quadcopter reached at a speed of 18 m/s without estimating wind speed; but, the following day, it began to wobble, and it has continued to do so. We had the quadcopter configured with a notch frequency of 31 Hz at the time, but after replacing the new motor in the nose direction, we obtained a notch frequency of 68 Hz. As a result, we have since configured the quadcopter with two notch frequencies, 31 and 68 Hz.We tuned the aircraft once more, and after autotuning, we set up wind speed estimation with
EK3_DRAG_COEFF_X 516.85
EK3_DRAG_COEFF_Y 544
EK3_DRAG_MCOEFF 0.4.
As a result, our primary issue at the moment is that it wobbles in both windy and calm conditions.
here below I attach images and log files for the quadcopter for quadcopter and log files for the same till now
log files and cad model of the quad copter :
https://drive.google.com/drive/folders/14tfecTg1dHHMLLyE1rFQezQ80CT1Hu8N?usp=drive_link
images :
Please help me to solve the problem of wobbling
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