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    Vision failure everytime during takeoff

    VOXL 2
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    • T
      Tamas Pal 0 @modaltb
      last edited by 1 Nov 2022, 06:25

      @modaltb After diabling it, the quad is able to hover in stabilized mode. but it is going here and there uncontrollably and dangerously without any stick input and a bit of wobbling is still there. Any update?

      1 Reply Last reply Reply Quote 0
      • M
        modaltb ModalAI Team
        last edited by modaltb 2 Nov 2022, 00:10 2 Nov 2022, 00:09

        My next step is to share some PX4 params (pid settings, cutoff filters) that got my sentinel stable, but I need my team to validate before sending. I’m not clear if this will solve everything but will at least be a good data point. I’m hoping to get this tested tomorrow and will share

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        • M
          modaltb ModalAI Team
          last edited by 2 Nov 2022, 23:55

          @Tamas-Pal-0 ...

          I still have nothing to report as far as finding root cause of something, after our tune tweaks I was up and going. I am still testing though for this use case to see if there's some edge case I'm not seeing, I'm just a bit slow with this debugging.

          As far as sharing my params that got me flying, I don't even know if my approach here is valid, you have different motor/prop setup, and frames aren't identical, battery type?...

          My lawyer told me to tell you "not to use these since we don't have the same setup and the author/developer in the post here isn't really a pilot so...." You've been warned by the lawyer! 😉

          # Pitch PID
          1	1	MC_PITCH_P	5.5	9
          1	1	MC_PITCHRATE_P	0.065	9
          1	1	MC_PITCHRATE_I	0.150	9
          1	1	MC_PITCHRATE_D	0.002	9
          1	1	MC_PITCHRATE_K	1.0	9
          
          # Roll PID
          1	1	MC_ROLL_P	5.5	9
          1	1	MC_ROLLRATE_P	0.065	9
          1	1	MC_ROLLRATE_I	0.150	9
          1	1	MC_ROLLRATE_D	0.002	9
          1	1	MC_ROLLRATE_K	1.0	9
          
          # Yaw PID
          1	1	MC_YAW_P	2.0	9
          1	1	MC_YAWRATE_P	0.15	9
          1	1	MC_YAWRATE_I	0.10	9
          1	1	MC_YAWRATE_D	0.0	9
          1	1	MC_YAWRATE_K	1.0	9
          
          ################################################################################
          # Noise management
          ################################################################################
          1	1	MOT_SLEW_MAX	0.0	9
          1	1	IMU_DGYRO_CUTOFF	30.0	9
          1	1	IMU_ACCEL_CUTOFF	30.0	9
          1	1	IMU_GYRO_CUTOFF	30.0	9
          

          Checkout out noise management here... I've had some nasty flights due to cutoff frequencies.

          T 1 Reply Last reply 3 Nov 2022, 11:29 Reply Quote 0
          • T
            Tamas Pal 0 @modaltb
            last edited by 3 Nov 2022, 11:29

            @modaltb I have tried with your parameters. It is still the same. I am able to hover it but it is going here and there uncontrollably and a bit of wobbling is still there.

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            • M
              modaltb ModalAI Team
              last edited by 4 Nov 2022, 01:18

              Any chance you could post a link to a video of a flight to help us understand the failure mode even more? Sorry to this going, but we're struggling to find a smoking gun.

              T 1 Reply Last reply 5 Nov 2022, 10:29 Reply Quote 0
              • T
                Tamas Pal 0 @modaltb
                last edited by 5 Nov 2022, 10:29

                @modaltb I am using your parameters here and disbaled the modalai_esc driver. The video link is here
                https://drive.google.com/file/d/1cbBXsEFMLztR7F1_en4i77F1ww4LbQ1t/view?usp=sharing

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                • M
                  modaltb ModalAI Team
                  last edited by 6 Nov 2022, 20:22

                  OK thanks for the data. This is where I'm at now with my VOXL2 / VOXL2 IO setup sentinel, it's not super clean yet but but flyable for sure:
                  https://www.youtube.com/watch?v=1INto92k-v0

                  I'm getting our team to do a real tune and early this week and will post info.

                  T 1 Reply Last reply 7 Nov 2022, 04:36 Reply Quote 0
                  • T
                    Tamas Pal 0 @modaltb
                    last edited by Tamas Pal 0 7 Nov 2022, 04:37 7 Nov 2022, 04:36

                    @modaltb Thanks. which escs are you using for this?

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                    • M
                      modaltb ModalAI Team
                      last edited by 7 Nov 2022, 16:11

                      Hi @Tamas-Pal-0 ,

                      These are BLHeli 20A, should be similar/same as the ones from this kit: https://shop.holybro.com/spare-parts-s500-kit_p1251.html

                      Here's my setup:

                      3603abc0-66e8-474d-ae68-9245cbe40650-image.png

                      T 1 Reply Last reply 8 Nov 2022, 04:54 Reply Quote 0
                      • T
                        Tamas Pal 0 @modaltb
                        last edited by 8 Nov 2022, 04:54

                        @modaltb so, the problem is solved for you by tuning only ?

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                        • M
                          modaltb ModalAI Team
                          last edited by 8 Nov 2022, 16:43

                          On my setup yes that was all I needed to do, but we are still going to do a "full proper tune" on our S500 based frame (Sentinel dev drone) and I will confirm with you that we are getting performance as expected after this and share a video. Our flight test team will be doing that this week, thanks for the patience!!!

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