Hi,
I’m trying to build a payload delivery quad and I followed the basic configurator so far. However I’m unsure about what I’m doing with the MOT_THST_HOVER because in one part of the configurator it requests to use the initial flight settings where I set it at 0.25 whereas my initial tune parameter suggested a value around 0.64. I have tried flying with the 0.25 value while following the other steps. I’m not seeing any visible oscillations but my CCW motors are warm to the touch and the drone does not hold the position very well, it flies in quite a bit radius whereas I need it to hold quite steady. I have completed upto the first few flights of the mandatory minimum tuning but have not run through the VTOL PID tune script yet. Till now I have followed every single step to come this far (I Hope I have not missed anything). The roll and pitch inputs seem a bit aggressive and yaw seems very unresponsive at times. I’m attaching my log files from the last few flights for reference (there are some videos in the link too):
Also on the last flight the drone exceeded the fence and completed a nice RTL. The landing is the best part so far, very smooth and reliable. In AltHld the drone drifts away quite a lot.
https://drive.google.com/drive/folders/1hzC9iTVWf-PxCHNN96jQolaa3snkBqbu?usp=sharing
I would like to thank all the ardupilot devs in advance so far for always being fast with their responses and giving the best suggestions!
Build:
Hobbywing X6SE Propulsion System
22*70 Hobbywing Props
SIYI MK15 RC
960mm wheelbase frame
Cube Orange FC + Default Power Module
28AH LiPo Battery
Here3 GPS
(Unfortunately I don’t have any access to thrust stands. )
14 posts - 3 participants
