Motors not spinning equally #10294
Replies: 3 comments 1 reply
-
|
Does your esc support DSHOT? If so, use DSHOT, otherwise, you need to calibrate your escs. |
Beta Was this translation helpful? Give feedback.
-
|
I did it and now looks like the motors are spinning correct but problem 3 remains. Anyway, already helped a lot, thanks. |
Beta Was this translation helpful? Give feedback.
-
|
After change the motors to dshot looks like they are spinning correct but problem 3 remains. It is: 3 - Sometimes the tricopter flies like bouncing, left to right and front to back, looks like it is over correcting something Something really weird happened: |
Beta Was this translation helpful? Give feedback.
-
|
It already worked twice, only twice but already worked: Most of time it bounces like this: And like this: |
Beta Was this translation helpful? Give feedback.
-
Hi, I am building a VTOL and the behavior is strange, I will try to add as more information as possible.
It is my second aircraft using INAV and the first VTOL build, so you can expect that I'm doing something very stupid, but I have experience with fixed wings (I fly without fly controller) So, yes, I am noob in INAV and VTOL hahaha
1 - The main problem is about the 2 front motors in tricopter mode, the left motor is spinning much stronger, some things that I tested and did not solved my problem:
Besides the main problem, I also have another point and here the things will get crazy:
2 -Sometimes the aircraft, still landed, refuses to change from tricopter to airplane mode, the motor moves to transition point and back to tricopter mode. This is random and unplug and plug again the batteries will solve the problem after one or two reboots.
3 - Sometimes the tricopter flies like bouncing, left to right and front to back, looks like it is over correcting something
4 - The last and the most weird. One time I could take off successfully, (until now every single try was a fail), but once, just once, the aircraft was very stable, everything was really well, it was so well that I got some altitude and hit the transition, it stats well, so I hit the airplane mode, it worked but I was in angle mode and the aircraft was not responsive, could not make a turn easily and stated to fly away. So I set manual mode, the aircraft got extremely touchy (I fly huge 3D aircrafts and they are not touchy like this), but anyway, I set RTH before loose control and the aircraft was perfect, climb, came to me and start to fly around, I turned off RTH and landed it. 2 minutes later I tried to take off and it started to bounce like before.
I was using angle mode at this moment, but I did testes to take of tricopter in manual, horizon, acro and all failed as the aircraft was bouncing or sometimes rolling on the direction of the slower motor.
I record one video, it is shared at https://shorturl.at/0HkFv
P.S: I am not using magnetometer, I did not care about it because every single tutorial I was watching/reading suggested to turn it off if you primary fly in airplane mode, what is my case.
Some INAV configs I am using:
A strange thing is that INAV suggest motor 1 to be the tail one, but this will not work for vtol because in airplane mode it will try to use motors 1 and 2 only, so I set the tail as motor 3 and set the values as you can see bellow:
Diff all:
`Entering CLI Mode, type 'exit' to return, or 'help'
Building AutoComplete Cache ... Done!
status
INAV/MATEKF405SE_PINIO 7.1.2 May 31 2024 / 23:44:20 (4e1e59e)
GCC-10.3.1 20210824 (release)
System Uptime: 5765 seconds
Current Time: 2041-06-28T01:04:00.000+00:00
Voltage: 0.00V (0S battery - NOT PRESENT)
CPU Clock=168MHz, GYRO=ICM42605, ACC=ICM42605, BARO=SPL06
STM32 system clocks:
SYSCLK = 168 MHz
HCLK = 168 MHz
PCLK1 = 42 MHz
PCLK2 = 84 MHz
Sensor status: GYRO=OK, ACC=OK, MAG=NONE, BARO=OK, RANGEFINDER=NONE, OPFLOW=NONE, GPS=OK
SD card: Startup failed
Stack size: 6144, Stack address: 0x10010000, Heap available: 1528
I2C Errors: 0, config size: 10457, max available config: 131072
ADC channel usage:
BATTERY : configured = ADC 1, used = ADC 1
RSSI : configured = ADC 3, used = none
CURRENT : configured = ADC 2, used = ADC 2
AIRSPEED : configured = none, used = none
System load: 6, cycle time: 1010, PID rate: 990, RX rate: 9, System rate: 9
Arming disabled flags: NAV RX CLI
OSD: MSP DisplayPort: BetaFlight Compatability mode (HD) [53 x 20]
VTX: not detected
GPS: HW Version: UBLOX10 Proto: 34.09 Baud: 115200
GNSS Capabilities:
GNSS Provider active/default
GPS 1/1
Galileo 0/1
BeiDou 1/1
Glonass 1/0
Max concurrent: 3
diff all
version
INAV/MATEKF405SE_PINIO 7.1.2 May 31 2024 / 23:44:20 (4e1e59e)
GCC-10.3.1 20210824 (release)
start the command batch
batch start
reset configuration to default settings
defaults noreboot
resources
Timer overrides
timer_output_mode 0 MOTORS
Outputs [servo]
servo 1 1000 2000 1500 -100
servo 3 1000 2000 1500 -100
servo 4 1000 2000 1500 -100
servo 5 1000 2000 1500 -100
safehome
Fixed Wing Approach
features
feature BAT_PROF_AUTOSWITCH
feature GPS
feature PWM_OUTPUT_ENABLE
feature FW_AUTOTRIM
beeper
blackbox
blackbox -NAV_ACC
blackbox NAV_POS
blackbox NAV_PID
blackbox MAG
blackbox ACC
blackbox ATTI
blackbox RC_DATA
blackbox RC_COMMAND
blackbox MOTORS
blackbox -GYRO_RAW
blackbox -PEAKS_R
blackbox -PEAKS_P
blackbox -PEAKS_Y
Receiver: Channel map
Ports
serial 2 33554432 115200 115200 0 115200
serial 4 2 115200 115200 0 115200
LEDs
LED color
LED mode_color
Modes [aux]
aux 0 0 0 1300 2100
aux 1 1 1 1300 1700
aux 2 12 1 1700 2100
aux 3 53 2 1300 1700
aux 4 11 2 1700 2100
aux 5 10 3 1300 2100
aux 6 21 4 1700 2100
aux 7 62 6 1300 2100
aux 8 63 6 1300 1700
Adjustments [adjrange]
Receiver rxrange
temp_sensor
Mission Control Waypoints [wp]
#wp 0 invalid
OSD [osd_layout]
osd_layout 0 0 20 1 V
osd_layout 0 1 12 0 H
osd_layout 0 3 8 6 V
osd_layout 0 4 8 6 V
osd_layout 0 7 24 18 V
osd_layout 0 9 7 10 V
osd_layout 0 11 2 3 H
osd_layout 0 12 1 4 H
osd_layout 0 14 42 2 V
osd_layout 0 15 34 10 V
osd_layout 0 20 42 1 V
osd_layout 0 21 42 0 V
osd_layout 0 23 24 4 V
osd_layout 0 25 6 7 V
osd_layout 0 28 23 11 H
osd_layout 0 30 12 19 V
osd_layout 0 32 29 18 V
osd_layout 0 41 8 9 V
osd_layout 0 85 15 10 V
osd_layout 0 109 20 0 V
osd_layout 0 110 30 0 V
osd_layout 0 112 30 1 V
Programming: logic
logic 0 0 0 0 0 0 0 0 0
logic 1 1 -1 6 1 10 0 0 0
logic 2 1 1 22 0 0 0 0 0
Programming: global variables
Programming: PID controllers
OSD: custom elements
master
set gyro_main_lpf_hz = 25
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 30
set gyro_zero_y = -7
set gyro_zero_z = 3
set ins_gravity_cmss = 981.206
set acc_hardware = ICM42605
set acczero_x = -2
set acczero_y = -7
set acczero_z = 8
set accgain_x = 4095
set accgain_y = 4095
set accgain_z = 4098
set align_mag = CW270FLIP
set mag_hardware = NONE
set baro_hardware = SPL06
set serialrx_provider = CRSF
set motor_pwm_protocol = STANDARD
set failsafe_delay = 0
set failsafe_procedure = RTH
set reboot_character = 82
set small_angle = 180
set applied_defaults = 3
set gps_provider = UBLOX7
set gps_sbas_mode = AUTO
set gps_ublox_use_beidou = ON
set gps_ublox_use_glonass = ON
set airmode_type = STICK_CENTER_ONCE
set nav_wp_radius = 800
set nav_wp_max_safe_distance = 500
set nav_rth_allow_landing = FS_ONLY
set nav_rth_abort_threshold = 65000
set nav_rth_altitude = 5000
set nav_rth_home_altitude = 3000
set fw_loiter_direction = YAW
set nav_fw_control_smoothness = 2
set nav_fw_launch_motor_delay = 100
set nav_fw_launch_max_altitude = 5000
set nav_fw_launch_climb_angle = 25
set osd_video_system = BFHDCOMPAT
mixer_profile
mixer_profile 1
set has_flaps = ON
set model_preview_type = 26
set motorstop_on_low = ON
Mixer: motor mixer
mmix reset
mmix 0 1.000 0.000 0.000 0.100
mmix 1 1.000 0.000 0.000 -0.100
Mixer: servo mixer
smix reset
smix 0 1 29 -100 0 -1
smix 1 2 29 -100 0 -1
smix 2 3 0 100 0 -1
smix 3 4 0 100 0 -1
smix 4 5 1 100 0 -1
mixer_profile
mixer_profile 2
set motor_direction_inverted = ON
set platform_type = TRICOPTER
set model_preview_type = 1
Mixer: motor mixer
mmix reset
mmix 0 1.000 1.000 -0.667 0.000
mmix 1 1.000 -1.000 -0.667 0.000
mmix 2 1.000 0.000 1.333 0.000
Mixer: servo mixer
smix reset
smix 0 1 2 40 0 -1
smix 1 2 2 -40 0 -1
smix 2 1 29 60 0 -1
smix 3 2 29 60 0 -1
smix 4 3 0 100 0 -1
smix 5 4 0 100 0 -1
smix 6 5 1 100 0 -1
smix 7 1 38 -70 0 -1
smix 8 2 38 -70 0 -1
profile
profile 1
set fw_p_pitch = 15
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 80
set fw_p_roll = 15
set fw_i_roll = 3
set fw_d_roll = 7
set fw_p_yaw = 50
set fw_i_yaw = 0
set fw_d_yaw = 20
set fw_ff_yaw = 255
set max_angle_inclination_rll = 450
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain = 0.400
set nav_fw_pos_z_p = 25
set nav_fw_pos_z_d = 8
set nav_fw_pos_xy_p = 55
set d_boost_min = 1.000
set d_boost_max = 1.000
set rc_expo = 30
set rc_yaw_expo = 30
set roll_rate = 18
set pitch_rate = 9
set yaw_rate = 3
profile
profile 2
profile
profile 3
battery_profile
battery_profile 1
battery_profile
battery_profile 2
battery_profile
battery_profile 3
restore original profile selection
mixer_profile 2
profile 2
battery_profile 1
save configuration
save`
Thanks so much!!!
Beta Was this translation helpful? Give feedback.
All reactions