I just wonder if this is a safe route to go:
My copter seems to exhibit extreme vibrations stsrting from a certain combination of power and speed. These vibrations are not due to bad FC damping, the copter hovers for instance at 1450 - 1500 uS and 20 A and has Vibes XYZ below 10, but at full throttle and 1950 uS, the current could go as high as 80 A and VibeZ is 100 and clipping is permanent. With 35 A, the Vibves are below 30.
I do not want to reduce the MOT_SPIN_MAX permanently, because the copter may be flown at very high altitudes, where full throttle, i.e. 1950 uS would produce not more than 30…35 A.
The question is: if I implement something like this:
If Vibe Z goes above certain level (about 50), reduce MOT_SPIN_MAX progressively to about 0.85 (1700). Could this be dangerous? Could it destabilize attitude? The Flight Modes where this could occur would most probably be ALT HOLD and ACRO.
I could also be checking for current, so that if the current is already below let us say 35 A, the MOT_SPIN_MAX would not be modified.
I wonder if this could produce potential thrust loss condition and whether this is dangerous. I do not think it is a good idea that instead of MOT_SPIN_MAX to intervene the throttle directly or to limit ANGLE_MAX for ALT HOD Mode?
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