@kahoona wrote:
Hi, I would appreciate some help with understanding what is going wrong when I'm performing an autotune in flight mode. This has never worked out for me. I have had two crashes now on two different occasions and I'm clueless to why this is happening. It will fly very well on the default settings, but will always crash on the autotune findings. Since I'm novice with PIDs I find it hard to see when the new findings look off and when they seem to be correct.
Just to give some background info about my hexa, frame: Tarot T960, using Pixhawk(3DR) as fc. Batteries in use 2 6s 10 000 mah, around 1.2~1.4 kg each. Batteries are mounted on the top as expected on this frame. Motors: T-Motor MN 4014-11 330kv. Props: T-Motor 17x5. ESC's: T-MOTOR 40A. Total weight is ~ 6 kg. My Pixhawk is mounted on this type of anti-vibration platform: http://i.imgur.com/minON7K.jpg
Scenario for the log files:
Log 2016-07-06 15:00 https://www.dropbox.com/s/it1m9r4madqiyfd/15%202016-07-06%2015-00-00.bin?dl=0
The autotune log. What happend here is that I took of in loiter and switched to althold and then to autotune (in flightmode). This worked.. OK, had to compensate with throttle sometimes when the twitching looked like it had gone out of control(?), this worked well and it stabilized the copter again; I thought that this wouldn't be of any problem. Afterwards I flew it around briefly to test the new settings which at the time seemed good. So I landed it and saved the new values. Then I tried to take of again (in loiter mode) but due to the high and thick grass one of the landing gear rods got stuck and the copter flipped over. This unfortunately broke my gps mast.. this was my fault. Thats why it will say crash detected on this log.Log 2016-07-06 21:57 https://www.dropbox.com/s/bofyw9nyuyobzr8/16%202016-07-06%2021-57-02.bin?dl=0
The actual crash from take off log. Here I started in loiter mode and immediately the copter started to drift and tilt in a forward direction, I tried to compensate but the slightest input from me lead to an aggressive overshoot and the copter immediately tilted upside down. Luckily it landed in the high grass. Seemed to me that the copter was way to sensitive for input.I would say that I'm an OK pilot, I have flown my hexa on quite many occasions. But always on standard settings, which have worked very well in all flight modes. I just don't know why autotune doesn't work for me!? Any help analyzing the logs would be greatly appreciate
Standard PID settings which work:
Autotune PID findings which lead to my crash, worth noting is that Pitch and Roll values arent locked here..:
Arduplotter link: http://beta.arduplotter.com/view/577e1a105ea76af51d996476
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